Can you recruit a replacement companion if one in your party is dead?
Nobody knows ... hirelings were not part of EA.
Also, not relevant for this topic.
I didn't mention hirelings, was talking about camp followers into the party.
Anyway, sounds like a dead party member needs to be rez'zed to be removed from the party, and campsite companions can't be cast out unless certain scenes are done or reputation lowered sufficiently.
As a poor man's patch, you could sacrifice a companion to the Kua'toa.