Um, Talents and Civil skills can be seen and changed on your starting character.
If you mean for Companions, there's a Guide which details all the presets, which can help you decide what you want your companions to be, and give you the information to know which Talent a Companion could possibly have so you don't have to duplicate it.
I am not close to that point yet, so I cannot verify the details, but I'm told that there is a free, reusable respec for all party members available after Act I, so you can tweak them. (I would have preferred to have full control at recruitment, but this is at least something.)
I also agree that companions should not auto-allocate their points when they level up to match yours after recruitment.
