They don't really get harder tbh. There are 2 or 3 harder fights but the difficulty of the chapter doesn't really scale linearly. for most people Gawain/Mordred will be about the hardest thing they'll face for a while.
As for beating the other bosses, if you don't care about spoilers just look up a guide. If you do, just play it and see what their gimmicks are and make a party to counter accordingly.
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