In the game so far, our character shows worry for others as in to learn their story though I fear this will be for the whole game. In any relationship there is a give and take, try to create situations where certain companions have to make difficult choices to possibly save/comfort/assure pc(as in you the player) to create more depth in the relationships. Doesnt always have to be a dire situation, just try to bounce of the PC a bit more from time to time. The whole game is us just saving others with no give back it leaves our protagonist feeling a little hollow.