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Dunno if this is well known. But I've just found the method while messing around with my lag switcher for R2 last night.
1) Wait for someone's HP to reach very low.
2) Flip your switch
3) Heal him until you have no secondary ammo left. (you have to do this fast, or else you'll get disconnected.)
4) Flip your switch off.
Because when you lag, his HP will always stay that way until you un-lag. that is why you can heal him as many as you like.
This method is far more useful than healing someone while near a burning car.
I've joined a 8 party room in Orick, and in the end, I got 99k XP.