Well there is a whole heap of companion henchmen in the hall of heroes.
Any companions you could possibly get later in the game would be awful, having either all or most of their stats/skills/ability points spent in things you may not want OR they just wouldn't be the right level for you (I would have thought the hall of heroes henchmen would just auto-level to your main characters level when you hired them but they don't, and it's stupid)
But I'm not talking henchmen. I'm talking full on Companions.