I don't see how it's any different from waiting for enemy AI to make their combat choices. I personally enjoy companions but don't want to control them, similar to Dragon Age games for example. I enjoy their company and banter, but I prefer them being in control of their own actions during combat while outside of combat I manage their inventory/equipment/skills. If you see that as less playtime or less gameplay that's fine, what I'm suggesting is optional anyway so if you aren't interested it isn't forced. Also, the way I see it, waiting for your turn is part of the turn based experience, so to me that isn't a negative thing. You make your action, see how AI reacts, and when it's time for your turn you adjust course to deal with whatever the AI threw at you. It's all part of the gameplay.
