[RMVX ACE] IN NEED OF A PARTY SCRIPT FOR BATTLES

Hey guys, I have a request. I'm looking for a certain battle script that deals with the party. Basically I want a script that lets you switch party members out without using up a party members turn(If possible, but if not, then a script that lets you switch party members out atleast) and also that, lets say for example: You have 2 groups. group one consists of 4 active party members that are used in battle(Which is the default number) and group 2 has 4 other party members that are not participating in the battle at the moment. Well group 1's members are all ko'd and then they get switched out with group 2 whose party members are not ko'd. is this possible to do or is there some script that does this? Also I want all party members to get exp even the ones that aren't in the battle at the moment(except for ko'd party members)