I do for the harder levels, where I am trying to do things rated well above my team power. And if you have an equal choice, Kailani has the better attack stat, so I would go with her over Bane.
By bringing Brienne you are buffing all your tile damage to heroes that are alive. I found in harder levels where a hero could be one or two shot dead, a good spirit link saves the day. For this reason I prefer the slightly slower completion time with a full team roster.
I like to order my heroes left to right in order needed for best auto-play. So apply buff, heal, apply debuff, attack, attack. Whether to heal early or late is optional often dependent on Riposte buff on enemy and current health of team. Move healer as desired.
Easy to moderate levels: Brienne, Hawkmoon, Valen, Balthazar, Bane
Hard levels: Brienne, Hawkmoon, Valen, Balthazar, Kailani
Levels needing dispel: Belith, Valen, Bane/Kailani, Balthazar, Hawkmoon
Or situationally: Brienne, Belith, Valen, Kailani/Bane, Balthazar
You have to bring either Belith or Tyrum. Tyrum’s damage is very low so I prefer Belith. So I would most likely go double healer or double green if it suites the situation.
On defense, similar line-up but usually want strongest defense in the middle. So adjust as needed.