The grind really isn't as bad as people think it is. As long as you don't change it every couple days, you won't really notice or care. What I usually do is grind up to A and then let S come naturally. If you really like Joshua, go ahead and do it.
Joshua benefits more from it, as Elincia is mostly a player phase unit. Give him Iceberg/Glacies, Close Def seal, and he will be hard to take down. If you can give him Wrath, he will nuke big time.