Honestly I think the companions are all pretty reasonably characterized. Lae'zel does feel rough and hostile but that seems to be the Githyanki's thing, even then she's still my favourite character so far. Shadowheart seems guarded and disinclined to trust you or be open, but she generally holds her tongue and doesn't seem overtly hostile to my character for the most part. Gale seems chill and reasonable. Wyll is a lot of fun.
I would love to have Wyl in my party but he perished in the first fight he was in and I was unable to revivify him. I thought it was literally will of the dice so I stuck with it. Otherwise Lae'zel has been my favorite as well, she is harsh but if you lean into it in the game there are some amazing moments with her.
