I would like more self aware companions, but this is sadly near impossible to achieve in a believeable form without making a extremely linear experience I guess. I mean sometimes they add a timelimit to quests in some rpgs (Kingmaker did this), but it is usually a bit poorly executed. I guess they could make companions complain if you take to long meeting their priorities and have them leave if you havent progressed after x rests. Main problem I guess with this you have no idea of the passage of time. I guess they could add a date system like they did in the OG baldurs gate games. But that would work best with a day night cycle. Plus you don't really travel large distances in the way they shape the world as is.
I think the MC being the guiding factor is pretty much the default for any RPG sadly. And I don't see that changing anytime soon. Players want to feel important in a RPG, not just part of a group as such..
