I quite like when characters are judgemental or opposed to Tav or other people based on their personality and background. For me it makes me appreciate them more, because I am not looking for a cheerleader for my character, but a companion with their own personal views and agenda. Some conflicts and dynamics are good for storytelling.
For example, Astarion being a narcissist is often fitting, because in his life as a prisoner of Cazador he has been conditioned to look out for himself and that altruism never pays off (except when it just comes off as petty like it does sometimes in act 1 - I am just being polite because that is usually a better way to get what I want out of people than insulting them, you don't need to judge me Astarion).
Another example is Karlach getting furious if you make a deal with Raphael, because she knows what is attached to those kinds of deals. Or Lae'zel scolding me for showing sympathy with the tieflings, because to her they are merely pieces to getting to the creche and achieving what she seeks. None of those occasions when the companions disagree with me, or disapprove of my decisions by being snarky, judgy or scolding bother me. It only bothers me when it seems out of place or there's no real reason for the character to react that way.
Suspicious boss lady Jaheira in act 2 is one of my favourite interactions, I just want to ask her to interrogate me some more (maybe I should go seek out the librarian in Sharess' Caress, too bad she is dead).