You can get by with henchman but at ascension (think end game for pve) and on you generally need a team of people because of difficulty, BUT even then basically everything can be done with henchman if youre really good the only exception right now being the underworld (very very very hard place that requires 1 plat to even get in).
I came pretty darn close, and probably could have done it if I kept trying, to beating Elona's Reach (hardest ascension mission) with henchman and Im not the most steller player, so take that for what its worth.
Also, in PvP you will always require people of course.
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