I don't see how your inability to prioritize or make decisions is a developer design flaw.
You're not forced to switch companions, you just feel compelled to.
There's no single solution to all of the issues in the game, and you won't see everything in one playthrough.
Larian shouldn't make arbitrary decisions based on what certain people think is fun or isn't fun.
If that were the case, you'd be pretty miserable if I got my way because I love the maximum party size as-is, and I'm looking forward to many runs with different party/class setups.
There are multiple ways to ultimately resolve the tadpole problem, so pick one and stick with it.
Your desire to have a singular "perfect playthrough" and do it all isn't feasible.
Also, there's not a singular reason to proceed forth with those specific characters for any of the examples that you've mentioned.
The goblin camp can be cleared and resolved without Wyll, and you can handle your business at the Gith creche without Lae'zel.
In both of those examples, the resulting plot development doesn't hinge specifically on those characters or their presence there because what's going on in those areas is bigger than any one character.
In any event, it's all kinda moot. You're going to be forced to slim your party down and axe some companions at some point in the final release, so you won't get to do everything anyway.
If you're reacting like this to obligating yourself to see everything through for everyone, I'm really worried about how you're going to react when some of those people aren't an option anymore and those questlines force-close.
