You know, while play balance issues like that exist, they haven't been the rule, at least among the games I play—usually bosses have various methods to prevent healing spam like that, such as a limited pool of MP, attacks that disable characters in some manner (paralysis, "mute"), one-kill attacks, faster speed/multiple attacks per turn, etc. Sure, they're not insurmountable, but as a person who favors not grinding or making things more challenging for myself, I've found that most RPG bosses manage to have an appropriate balance, at least on the first playthrough.
That said, one game (possibly series) which definitively requires putting some thought into one's healing is SaGa 2
, a.k.a. Final Fantasy Legend II
. Not only can you not use healing items in battle unless you equip them in a character's very limited personal inventory, the fact that 99% of items and spells have a limited amount of uses (30 for the "Cure" spellbook, which heals one character, and 15 for the Healing Staff, which heals your entire party, and both of which heal depending on both the healer and healee's magic stat). Espers and certain monsters can recover magic at inns and certain points, put these spells are generally less powerful than spellbooks. Also, for most of the game you can't ressurect characters during battle. All, this, combined with the game's other play quirks, make the game generally punishing, particularly in the end game, and especially the remake, which can have monsters gang up on you in ways that make, for example, for fights were' your party is outnumbered five to one.