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.
I agree with BG3's needless overfocus on sexing the companions, but I do not agree they're lacking in comparison with WotR.
Yes, Regill is standing out, maybe Daeran as well, but they're still not better in any way that, let's say, Lae'Zel. Not in writing, not in quests, especially not in voice acting.
At the same time, I think that owlcat's writing is horrendous and tasteless overall, so maybe I am biased.
