Yes, Goblins are a bit clumsy, and they're slow in battle... maybe I just don't know how to use them properly, but I think Birds are better. And why would I need Ogres or Cyclops in my party? I saved them for the endgame, and that's fine.
Harpies are fast; I think they have 40 speed, but I'm not sure.
You can zoom around the map with Heroes and Birds.
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