In general I prefer companions with gradual development, and good integration with world/story/themes. In short companions that immediately “pop”, but fails to be relevant or developed (Kingmaker, Baldur’s Gates, D:OS1&2) don’t stay in my memory as much.
The best recent ensemble cast for me was Pillars Of Eternity1. Varied companions with compelling ways of developing them - well representing world, history and themes. Best companions act as resonating boards that amplify game’s story and conflict. PoE1 final revelation wouldn’t hit nearly as hard, if not for an excellent companions whom this reveal is personally relevant. Little back&forth between Thaos and the party of my choice is always rewarding. Favourites: Durance. Such a horrible being, such a satisfying payoff, Edér - I want him to be my bro, Sagani - just liked her journey, and I find it compelling to interact with a companion who has her own life/family, I think that is a bit that a lot of modern RPG loose and that was present in BG2. By making all companions romancable, who those companions can be becomes rather limited - and absurd if you put all companions together.
Other, singular standout is Kim Kitsuragi from Disco Elysium - a nuanced and subtle companion. Best companions feel like actual beings, and Kim is outstanding in that regards. Still, I think skills in DE should count as companions as well - they are great too.
From classics - Planescape. Morte for life! And Dak’kon
