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.
It works in most games in my opinion.
Reason it does not work in BG3 is that origin companions tend to have too important/urgent things to do that does not match with "roaming the land and clearly do something else".
Companionship is never really involved yet and everyone have the same goal so no one will stay with him to help a friend / to achieve something bigger / ...
It work pretty well with Gale and Shadowheart for now imo but not so much with Wyll, Astarion and not at all with Lae'zel.
