Basically, it is the Fire Emblem battle system, except when you attack an unit, a regular battle system pops up, where you select your attacks and stuff. I am terrible at explaining things, so here is a video (timestamped). Thank you!
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MV - Are there any TBS plugins that allow this kind of battle system?
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SRPG would be the best choice a Fire Emblem battle system.
MV - SRPG Engine MV - Plugins for creating Tactical Battle System
I use LeTBS though, which is the other TBS for MV. But it's more like FFT, not Fire Emblem.
Lecode Tactical Battle System 0.77.2B
Other members with more experience with SRPG like @dopan or @Shoukang may be able to help u further.