It's kind of annoying to change party members. Talking to the one you want to swap, going to the camp, talking to the one you want to join, leave camp. Can we just swap from a menu any time we're somewhere that traveling to the camp is possible?
Yes, it is. Larian never meant for you to change the party so often as they planned to kill the unused companions off like in DOS2. So they did not bother with a better change system.