I wish we had more opportunities for friendship with our companions. Just like it was in Dragon Age Origin - there were unique gifts, personal quests, there was Leliana who sings her song, Stan who calls you his friend to the final if you showed yourself worthy. I would like this kind of content in the game.
In Baldurs Gate 3, you can do this much better than in Dragon Age, add the ability to perform feats for the sake of friends, for example, not betray them in situations where it can be beneficial. Actively help them solve their problems, show signs of attention, communicate with mutual trust, spend time together. But so that it was an optional option.
It should be for all heroes, not matter good, netural, evil. The principles of friendship are the same everywhere, it should always leave pleasant warm feelings.
It will improve both friendships and romances.
