Yeah, that would be nice. I did feel like my character became friends with some of the companions, maybe just from how the dialogue feels at high approval levels, but I'm sure more could be done. I don't think I'd expect special dialogue for handing Lae'zel a githyanki sword, because they're pretty common in the game, but I think gift giving should be more like giving Shadowheart a night orchid. A semi-unique thing.
Alas, I can't see it happening at this late stage, but no harm in mentioning it
