But if we could trigger camp-only scenes outside of camp, it would be easier to squeeze in more companion interactions and fewer would be missable
Agreed. Some scenes make sense only in camp/at night, like the Lae'zel Tears conversation as you say, but there are others that would make as much sense out in the world and could result in yellow exclamation marks popping up over heads as soon as trigger points are reached. In fact, even if the conversation needs to happen in camp it might be helpful to have the exclamation appear once conditions were met even if the companion only said something like "I want to talk, but perhaps it had better wait until we stop for the night". Some conversations could also be triggered by short rests, which might make them feel more like rests and less like just pressing a button to get HP.
And, as many people have said before, if only certain companions' dialogue didn't take priority and instead everyone who had something to say pitched in or there could be multiple cutscenes in one night.
Anyway, I know there's loads of good feedback on this site already about issues with companion interactions and possible solutions, so hopefully our new(ish) community managers are looking through and feeding back suggestions!