You know all this you can allready do, right?
Honestly, no, I don't. Even in turn-based, once I give a companion a "fire" order, they do it, and combat starts. I can't give every orders and have them do it simultaneously. Is there something I'm missing?
Partialy ...
As i said, hide is the key here ... they will never attack "simultaneously" that is true ... but if you hide your party, you can attack with every single character one-by-one right at the start ... (unless you get horribly unlucky with initiative roll).
> Hide whole party
> Position hole party
> Attack with first one > combat starts ...
> Attack with second one > joins the combat ...
> Attack with third one > joins the combat ...
> Attack with last one > joins the combat ...
Final effect? 4 attacks has ben made at start of the combat, just as you wanted.
(
Actualy 5 attacks ... since, unless im mistaken, your character that initiated combat, gets turn unaffected by the fact that he just attacked, and can use another action.)
I admit, effects of this "tactic" varies, based on how unlucky you get with your initiative ... if your first character is actualy first in turn, its super effective ... if its last, well not so much.

But this is just the thing with turn based combat, with initiative ... in other words, this works as intented.
