Im not asking for removal of the highlighted are and the character voicing out.. just the representation above the head when a perception is failed or passed. Also to counter the meta gaming problem A successful roll (either you or companion) Could promt a Companion to go up to the perception.
Ex: I notice the door lever on the back wall of the ruins and call out to your companions letting them know its there and one of them could run up to it.
If no one gets a perception roll that succeeds then there should not be a promt because that also breaks immersion.