I only want good-oriented and honorable companions, and I need at least five of them because I will only be playing the game with a mod that increases party size to six. Someone already mentioned Eder. Yes I love Eder. In both PoE games Eder is my always-in-the-party companion. In PoE1 I also similarly loved Sagani and she was always in my party too.
I don't care at all about my companions being "nuanced" or "flawed" because that's what's "realistic." If I wanted any of that, I can get that from real life. I play my cRPGs to get away from real life.