Kinda. Although it's a more of a ''Link System''. Where units in a certain range with each other can 'link' together and support each other, with Support skills mainly having a trigger condition.
Let's take a healer/Light mage, as an example, when linked with another Ally:
C-support skill: Auto-heal. Once/twice/thrice (depending on support level) per turn, auto heal attacked ally. Trigger condition: linked ally takes damage in battle
B-support skill: Barrier. Res + X (depending on support level) for first magic damage taken on enemy phase. Trigger: take Magic damage.
A-support skill: Status immunity. Linked Ally is immune to negative status effects
S-support skill: Revive. Once per Map, if linked ally get's ko'd, revive them with (Mag + 10) HP.
I wanted to write a full post about a proposed revamped support system, Story and gameplay wise, but dunno if i should, since people seem to really love the current system.
And Armor unit could've ''Dual Guard'' as a A-Rank skill, to completely nullify first damage the linked ally takes during a turn, as an example