+1

I agree that companions should be able to participate to certain skill checks. In one way on another.
This would give the feeling of solving thing as a team instead of companions turning into empty vessels once a conversation starts 😅.

I've seen some players express that this is also frustrating in multiplayer. I can understand why.

With PnP, people can all participate together. I don't think it would be impossible to translate that in a video game. Like mentioned above, a dialogue option with the name of companions in a good example on how to do it. I would even take a small bonus to certain skill check. Just anything that indicates that my Tav is not alone in the convo when it comes to thing like this. With those options, there isn't even a need for a fully animated/voice-acted reaction from the companions either (if that's what stopping this from becoming a thing).

Examples where it felt really weird not to be able to ask for help :
  • reading the Book of Dead Gods (in the Dark Crypt)
  • studying the "druidic frescos" at the Druid Grove
  • inspecting the face-door at Ethel house
  • studying the ruins for the Duergars (in the underdark)