To cycle through enemies, just press the button for next enemy, and to go backwards press Shift + that button.
I don't know what the button is, caus I've changed it many times and it's not the deafult anymore.
As for cycling through allies, there are "Target Ally 1", "Target Ally 2" ect in the control options. Just asign each one a number in the number pad, and you can cycle through them easily by pressing 1-8 in your number pad. The only setback here is that you can't select people outside your party, for example, if you have Prince Rurik, then you can't press a button to select him, you have to clik on his name in the party window.
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