I would have loved it if the familiars and animal companions had names and a bit more personality, and would have happily given up the flexibility of being able to just summon whatever I felt like that day.
My only character so far with a familiar was my Oghma devotee with a pet raven, which unlike the other familiars (I think) does have a name, and I was happy to stick with “Quoth” for the Poe and Pratchett references. Though if it had just been called “Raven” I’d have chosen something else, and will be naming future pets. And yes, I did imagine him muttering to himself as he scouted out the terrain, and the conversations he’d have with my character on his return.
I also wish familiars had actually been able to do more, such as discover waypoints and interact with small holes, so their scouting was more useful.