Yes, case in point. Current playthrough my Tav is romancing Gale. I've treated Halsin kindly and with support because his goals are noble and align with mine.

Enter act 3, Halsin immediately tries to hit up Tav for sex. Dude, you know I am in a relationship with Gale, you live in the same camp! Is this what a level-headed, caring and considerate companion would do? Where is the consideration for Gale? Because I can pretty much safely say that all Gale sees is some creep trying to get in his girl's pants.

Now since I know how certain things play out here's how this creepy story could evolve from here.

Tav rejects Halsin and says they are not attracted to him in that way. Yet, later if Tav decides to take up the drow twins on their arrangement together with Gale (which is a f***** up situation in itself and not something I would actually do), Halsin will jump in without any invitation and again ask for sex - I HAVE ALREADY SAID NO TO YOU, WHAT PART OF NO DON'T YOU UNDERSTAND?

or

Tav fancies the idea and goes to check with Gale if they are on board with it. Gale unequivocally says no and Tav delivers the answer to Halsin that their relationship with Gale means more to them so sex is off the table. Forward again to the drow twins, and Halsin who at this point very clearly knows that Gale is not comfortable with Tav and Halsin having sex and is not interested in Halsin in any way, completely disregards whatever Gale thinks or feels about the situation and again jumps in uninvited and tries to score with Tav.

There is so much mess entangled here, with Tav and all the other companions, that I don't think Larian could unravel it even if they wanted to and with everyone in journalism and social media blowing smoke up their ass about how Halsin is so "inclusive" and written with so much consideration and care (they obviously never explored any of these scenarios properly) they aren't likely to want to either.