Having a group of four and the rest of the companions sitting around in camp felt a bit weird in BG 3
Having companions acting as bench warmers at camp is always very awkward (Even more so when they have stupid telepathic capabilities that allow them to know exactly what you've experienced. BG3 using the Tadpoles to justify this doesn't make it any better)
Not just in BG3 but most party based games, be it DA:O, BG, Pathfinder, even Outer Worlds...
It's one of my gripes about how companions are handled and their lack of autonomy. They all have these important personal tasks and are roped in to following you to complete the major story task but are content to just sit on their hands and do nothing while you're out adventuring...
Though, I'm not a fan of extra large party sizes, so having every companion in the same party just doesn't work for me (It's one of the things I didn't like about Wartales, you were highly incentivised to have a party of at least 9 in order to be able to perform each crafting action). For reasons that include:
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Balance issues. Having large max parties pushes the balance to higher party sizes. Meaning that there is more restriction for those who wish to do smaller parties. For example, my first playthough of DOS2 I did with Lone Wolf and just me an Lohse, the only companion I initially liked. An option only facilitated due to the Lone Wolf feat even though the game was balanced around a party of 4, let alone higher.
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Gearing issues. Often it can be hard to properly gear up a party of 4 if even 2 characters share common gear. This is exacerbated the more members you have and thus the more overlap in gear you face (This was a major thing in Wartales, given the lack of diversity between characters).
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Lack of spotlight. Already with parties of 4 we don't see many characters getting a chance to be in the spotlight. Like, there's a few times in DOS2 where Sebille will take the initiative (I.e. Murder someone to death before you can talk to them) or where someone like Beast will pipe up. The more people in a party the less chances there are to implement such things because there would be more competing characters (For example, in DOS2 both Sebille and Ifan ben-Mezd want to talk to Roost).
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General combat design. Turn based combat is baseline a fairly time consuming thing given the nature of how slowly things progress when you make each action from each individual a singular turn. Larian already pushes things further with their love of high numbers of enemies. Adding more party members means further making things take EVEN longer as well as pushing for more enemy combatants to make up for the large party size. To say nothing about the awkwardness that comes with times you face 1 powerful foe and then you have to struggle to get all your melee characters in range to hit them (Even before you account for friendly fire)
Of course, this doesn't mean that the only solution is DOS2's "You only get 4 people and everyone else dies because reasons" stuff.
There could still be the potential to recruit a bunch of companions, allowing you to change up your active party (For example if you were tackling specific enemies where a change in party composition makes sense. I.e. Ditching your Fire Mages when going through the Cavern of Fire Elementals Who Heal When Hit By Fire Damage)
All that would need to happen is that non-active (As well as non-recruited) companions could still be doing stuff in the world. Pushing towards their own personal goals (Either their personal quests or their own quirks - Such as a scholar character exploring libraries and ruins). Meaning you can run across them while your party is adventuring. Also, this could then lead to conversations back at camp as you talk about what each other has been up to (And they could apply more pressure on you to help them with their personal quest instead of just standing around until you decide to do it)
