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I discovered it today by accident then tested to confirm... for those objectives where you have to defend scientists or Inhumans or SHIELD agents, Healing Spirit will heal them as well, which is really helpful when you want to get through one of those without any of them dying.

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about 4 years ago - /u/CD_PhilT - Direct link

You can also fight near them, if they are glowing with a green outline they are being healed. It's not really explained anywhere but i figured i'd add that to your great tip!