Once you get to 18+, you'll start regenerating a hitpoint every few seconds, which can really add up, especially in longer fights or in areas with lots of enemies where you can't rest. There's also only one healer in the game, and if you don't have her in your party, you're going to need it. It also helps to take hits on TNO since he can easily heal them, and your squishier teammates can beat up bad guys in relative safety. Faster regeneration helps with that quite a bit, and you won't have to chew as many blood charms.
As for the dying, there are a few times where you'll need to die in order to advance the story. However, you do NOT want to go around dying in combat. Not only is it annoying (since you restart in the mortuary) but dying too often will actually make the end dungeon harder, for reasons that you'll find out later. Death is cheap, but you still shouldn't take it for granted.