When overburdened, you can send items instantly back to your bank without needing an innkeeper or traveler camp. Simply give one of your support pawns any items you want to send away and then dismiss the pawn. You can send as much as they can carry and keep yourself from being overencumbered in a dangerous place.
While falling from any height, press RT to do a mid-air grab to momentarily pause your fall and restart your fall from that point. The closer to the floor you do this, the better-- doing it too high could mean you still take damage.
When you get to Gran Soren, buy 100 empty flasks. After that, go north from Grab Soren, and look for a glowing rock pillar. It is a wellspring, and the water has healing properties. Fill your flasks with the water from the spring, then give them to your team. These potions will restore more health than any herb or remedy in the game and are easy to refill when you are running low.