There is no evidence of this so far, beyond dialogues when you first meet the companions.
However, including deeper AI this would be consistent with D:OS and previous titles Chris Avellone has worked on. They've expressed an intention to improve on the storytelling.
It would also be the ideal way to implement the "love and hate" stretch goal.
My expectation is that it's very likely that there will be AI personalities for companions, but it hasn't yet been polished enough to be shown off in the Alpha. D:OS2 has drop-in co-op, so it's probably a bit tricky to get it right. At this stage, you basically control all companions like they're the player character (with full dialogue options when speaking to NPCs). I'm guessing this will have to be restricted to some degree so that companions feel more independent and not just like puppets.
