It would be nice to have companions urging to join us aggain and follow their goals ...
Maybe after XY(10?) long rests warning about leave if we dont help them ... and after another XY(20?) actualy leave us.
Tbh, while I don't want hard penalties like them leaving, it would be nice for them to actually have multiple types of dialogue for the severity of how long they are waiting and some penalties like approval loss for constantly not doing the thing for them after a point or some kind of consequence.
Something I just realized tangentially, the camp could feel more justified story-wise if there was some mechanic of them doing something in or around camp. So it doesn't feel like they aren't doing anything and instead it feels like even when not fighting they have a place in the group, whether "useful" or something that is them. Like maybe each companion could have an action they just do instead of standing all the time, like Gale could be seen cooking or researching, Laezel working on equipment maintenance or guard duty, Wyll could be standing guard on lookout or drinking, Shadowheart gathering water or praying, and Astarion could be something that could maybe suit his nature like skinning and draining blood of the meat a future ranger companion could hunt. Future bard companion could be playing music or singing or such, druid could be tending to plants, barbarian carrying things. And if we get more than origin companions they could possibly do other things that make them really feel like they have a place there. Like little things that is more than them just standing in front of a small tent and maybe holding an item. This could extend to others like volo could be sitting down and writing his latest notes. To draw a similarity, like the Ship in Mass Effect 2 where each companion had a ''space' they loitered in and would do some task for the crew, though some just stayed around cause they were only muscle, others acted as an important researcher or maintained the ship weapons, and all of them made that space feel lived in by specifically that character.