I understand your problem, but beeing fair, your problem most probably is due to choosing Halforc and Halfelf (Drow)
Could be. Still, while I haven't tried other races as far as I can tell from other discussions they're still lackluster compared to origin characters. All they get is a extra option here and there.
They have a good amount of companions but if it bothers you, you can always get Hirelings early on after first dungeon or create multiple custom characters
Yeah, I considered this, creating a full custom party like in Icewind Dale but I'd really like to see origin character stories. It's not that I have a problem with origin characters having their own story, I very much enjoy them. I have a problem with the lack of Tavs. For example in Baldur's Gate 2 almost all companions had a story with quests and an ending but so did Tav, he wasn't just a sidekick.
I feel the same way about Wyll. Next to him there's no point in playing any other Warlock since he's the only one that has the most important part of being a Warlock, interaction with your patron.