You are still early in the game and it takes little effort to buy new weapons and get LP. It would be pointless to start over.
Within a couple hours or so, you’ll be rolling in License Points and you’ll be able to build up your characters more like you want them. I’d also recommend teaching everybody the Accessory License for Golden Amulet and then buying as many as possible from Tetran in the village of the Viera, assuming you’ve reached that point.