I never had a problem dealing with six characters including my player. Also, you could always tell the prospective NPC not to join your party. That way each person gets what they want out of the gaming experience. Yes, leveling up is slower, but I believe the gamers out there can handle it.
To me the interaction between the player and the NPC’s is what makes the whole game a most memorable experience, as well as the banter back and forth between the NPC’s. To do this correctly it would take total dedication from a writer who would make it their own personal project that they would love and adore.