So I recorded a small demonstration of relatively minor exploration/combat dialogue in Wrath of the Righteous. Anything in regards to actual inter-party companion dialogue would probably veer well into major spoiler territory, so I'm leaving that out until the game officially launches in about three months.
Everyone has lines for a bunch of things. There could be an argument to be made about how such dialogue might be a bit immersion-breaking, but at the same time, it adds a lot of much-needed personality to the characters. Most people would probably prefer some amount of dialogue rather than outright silence too. Such things have a pretty subtle effect in that you can get a small sense of what they're about just by listening to them.
(And don't mind my gameplay. The game's still openly balanced for real-time with pause, but you notice the voice clips a lot more in turn-based.)