I don't really switch party members because all my playthroughs always have Shadowheart and Lae'zel, with whoever else I feel like taking along. If I could I would take all of them with me, but I don't really feel bad because to me everyone is essential, so I find a use for everyone in the camp.
My last playthrough Gale and Wyll remained in the camp, so I turned them both into party healer/buffers so I don't have to rest (because you can buff your party, dismiss them and the buffs remain since they're concentration based). So they're useful even if they're not a party member. And I love all of their stories, so everyone has a role in my game.
So I'm alright with it. Naturally I'd prefer to take them all with me, but since I can't, then I find a use for them in other ways. KOTOR games also had a party selection screen where certain missions locked certain party members due to the story, but I like the way BG3 and DOS2 do it, because it feels seamless and natural by not being forced.
For example, the encounter with Gandrel (Cazador's bounty hunter looking for Astarion) plays out differently in so many ways, which is quite insane. So I really like how Larian does it.
