I certainly haven't tried all games but mercenaries have "a definition" in cRPG. Larian has never said they would be different in BG3 than what we're used to.
Nettie, Alfira, Aradin and Halsin couldn't be call mercenaries. They would be companions, exactly what OP and many of us are asking for.

Last edited by Maximuuus; 06/04/22 08:26 PM.
French Speaking Youtube Channel with a lot of BG3 videos : https://www.youtube.com/c/maximuuus