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

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)