I don't think we'll be seeing rescue in a non-remake title any time soon since it's redundant with pairing up, which seems like it's here to stay. Or at least I hope it is, since it's got a ton of strategic depth in Fates.
The Fates version of pairing up is arguably needlessly complex and unintuitive depending on who you ask though, so I guess maybe rescue could be considered a simplified version. One of the most important design things Fates does is enabling enemies to pair up rather than reserving it for players only, and I guess it might be interesting to see enemies that can use rescue. Or, more likely, paired enemies that are able to separate more freely.