Pathfinder Kingmaker has excellent companions. You can feel that Chris Avellone was part of the writers team for that game. The companions in Kingmaker are amazingly well written and I'd love to have all of the 11 or so companions on my team at all times but I can only have 5 at a time smile
I don't like any of the BG3 companions so far, but haven't given Wyll a chance yet.