Definitely! I liked the system in Dragon Age Inquisition where while at Skyhold you had access to all your companions inventories and could level them up without putting them into your party.
Currently my strategy is to immediately send everything that is not equipped by my active party members to camp, and everytime I switch out a party member they go to travellers chest to stock up before leaving camp. But it's still difficult to remember, especially if you have someone you take with you rarely, that a whole act ago you send that cool staff to camp that this character would really like.
Also also in terms of inventory, an autostack container for all items marked as wares would be lovely.
