Oh wow. I literally had no idea that - in the example of the barn ogres scene - anyone other than Astarion had something to say about it. I have also probably missed out on so much other dialogue... in particular with Lae'zel, because my focus was on Astarion most of the time.
It really feels like I'm missing out on bonding with them.
Yes, yes it does!!!
I definitely want to be able to talk to each of the companions in turn, or be made aware that they each have something to say. Not have one companion's lines override the others'.