I agree that it would be nice to be able to meet more allies in the later acts of the game, rather than just at the beginning.
I like the idea of having a member of the group having just NO IDEA we have a tadpole in our head (Volo is kind of that guy, but I don't think he's meant to become a companion per se).
I wonder if the druid Halsin is meant to become a companion later on, or if he's supposed to be one as soon as act one but the gameplay for druids isn't ready yet so they didn't make him fully playable.

Anyway, my point is: companions are exciting, even more so than a new, powerful piece of gear for a slot you have never been able to fill up to that point. And I think getting a full party as soon as act one is a bit premature. It's always a nice surprise, it's exciting to feel like the game as more in store for you.