It sounds like narratively, if you pursue the Dark Urge path, all companions will leave or betray you if you don’t kill them first. I think that is brilliant.
I think the Dark Urge is shades of darkness. I can totally imagine be able to keep (most of) your party members if you do not completely indulge your darkest instincts. That being said, such a more moderate approach will not bring you the greatest power and certainly not divinity.
That being said, the philosophical discussion in the video was excellent and a pleasure to listen to.