Err ... the pathfinder companions are unmemorable simply by virtue of me not seeing much of a reason to play those games.
In principle Knights of the Republic 2 had extremely memorable companions. But the game was totally unfinished so you had these cool looking creations that did hardly anything, storywise.
The far more "boring" original Knights of the Republic characters are thus far more memorable.
So cool companions is nice, but fleshed out companions is better. And we get to see some truely awesome arcs with BG3 companions.
