So I've noticed a few characters at the camp that seem to imply they will join my party. But nothing seems to happen when I interact with them and hit join. I already have 5 people in my party so it could be full, is there a way to remove party members?
Hi, Raddonut :D
Sure!
there's an option in the campsite (fireplace) to rest and disband all the characters so they are available in the campsite to make the team with your favourite characters.
To run such option you need to use the fireplace menu, or the clock/fireplace menu in the player house in the capital city after purchase it.
I hope it solves your question selecting characters ^^
Let me know about any additional information you need :D