I love freindship/comradery relationship arc in games, they are the main thing I play RPGs for. PoE2 and the old BG2 are really stand out examples.
BG3 does it pretty well, but there's some trouble where too often things you click thinking it's this the game makes romantic
I'd love if the companions had more scope, could develop rivalries or friendships between each other as well as you, like PoE and BG2 did.
