i have my doubts about it.
The closest thing 5E has gotten tot he old school of hex crawl, dungeon exploring campsite making style of play was tomb of anhiliation which had a hex crawl bit, ithink they did some unearthed arcana about hirelings, but nothing id expect them to port onto a linear computer RPG
The PHB has some stuff on hiring people.
Yeah, you get three for free if you take the Noble - Knight background, a squire and two retainers.
If you played Advventurer's league you could hire a mercenary to join you on a quest as well.
