that's what i do. if you decide to collect commendations, it would prolly be a good idea to que for daily FPs. not only will you get comms for completing it, but you'll get a chance at nice gear drops.
Yep, a good guild can really help you there. If you have 4, you can group que and just farm them.
The ideal group for straight up gearing a warrior out would be OP, a Juggernaut tank and two agents.
That way any boss drops can be used by either the OP or his healing companion.