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I found myself a little annoyed with the final battle, not that it wasn't cool and epic - it is - but because half my company were left idling in camp while all this epic stuff was going down.

I'm so glad someone else pointed this out. It just makes no sense to me that the fate of the world rests on the outcome of this final boss battle, yet more than half of my camp companions seemingly choose not to contribute to it (well obviously they can't choose, but that's what it feels like).