The Healer Who Was Banished From His Party, Is, in Fact, the Strongest Party kara Tsuihou sareta Sono Chiyushi, Jitsu wa Saikyou ni Tsuki English Subbed

Two centuries have passed since a hero defeated the evil Jaryu and saved the world. In one of the many dungeon cities, Raust, a healer scorned and cast out of his party for being too weak, struggles to find his place. Amidst despair, he meets martial artist Narsena, who invites him to form a new party together. With a fresh start and renewed motivation, the two begin their journey to greatness.
(Source: Crunchyroll)