For me, there's an issue that both the BG3 "wayside" banter and the Kingmaker/WotR "campside" banter share: it's between party members only. It doesn't feel like it involves my character at all, it's over my head. BG3 goes a step further and doesn't even involve you or your actions/choices at all, meaning it contributes to the feeling that Tav doesn't actually exist or matter. [...]
When it comes to companion banter and such the game I'd hold up as an example to follow would be DA:O. It has a very strong mix of both "interjection" and "wayside" banter, the latter which will be partly shaped by your choices and sometimes be them talking about your character too.
I think it would be interesting to see more PC-NPC-NPC dialogues though. Something to make you feel more like a group and like your own character has a presence.
+1 to all of this. More party interactions, with the PC + multiple NPCs, would go a long way toward making BG3 feel like a Group of Adventurers.
