Second that. I've enjoyed PK as a fantasy adventure, but the only companions that stood out for me were Jubilost and Nok-Nok. Jubilost, because of his personal quest and motivations, and Nok-Nok for his entire storyline. I expected the little guy to be only there for comic relief, and was pleasantly disappointed.
From the top of my head, most memorable companions were in Planescape Torment, and from more recent games Pillars of Eternity.
