I'm replying pathfinder now so it's rather fresh, and I think the biggest problem with the companions there is pacing. You could play for hours without any progress in their stories most of which are completely disconnected from the main plot.

Larian's Biggest Oversight, what to do about it, and My personal review of BG3 EA
"74.85% of you stood with the Tieflings, and 25.15% of you sided with Minthara. Good outweighs evil, it seems."