Balance sounds like the perfect difficulty for you.
As for the companions and their quests, I would go in blind, get to know them without any pre knowledge. Don't worry so much about a perfect playthrough, just make it your playthrough. You only get one first play. Take the companions you like the most with you. It is a lot more fun to play this way than to constantly check guides so you don't miss anything. You will miss stuff anyway, it's so much in the game.
Save often. You can save in dialogue also. Do a manual save after or before big events so you have backups if things don't go as you expected.
