DOS2 is not the best comparison, but when you look at Wrath of the Righteous or Kingmaker its obvious that the BG3 companions are very lacking.
Partly because in BG3 everyone must be sexable by anyone, so companions like Regil are impossible and partly because of the origin system which causes most companions to be deeply tied to the plot, but because they are optional when you are not playing them thise ties are left dangling and are not interwoven with the story no.
