I too would love to have more camp activities and to see the companions have interactions together! It would make the party feel more real and you'd probably feel closer to those characters that you personally don't play so much with.
If we take an example from a very different genre, Red Dead Redemption 2 has a mind-blowing camp system. There other characters go about their tasks, talk together (both one-on-one and in groups), their stories evolve regardless of you and if you go to them they react to you being there, and in the night they gather around the campfire to tell stories and sing. I understand that Larion doesn't try to have that kind of camp environment, but there'd be so many examples of simple ideas that could make BG3 camp environment feel more alife.
Personally I think it would be nice to have more voiced reactions when some characters like or dislike your decisions, especially when it's something meaningful. But not every time and definitelly not from everyone, because there's just so many of those moments.
