More than 5 hours in game, still can't find any.

They are in Fort Joy. Did you miss Ifan right at the gate and pretty much next to Lohse?

Fane and Red Prince are outside, pretty much where you end up. Sebille is near the Elf Cave. Beast is near the beach in the fort joy, next to Griff's camp.

You need to actually walk up and talk to the little characters you see walking around.

No one has an icon over their head telling you they have a quest, or that they are a companion.

When you speak to a companion, there will eventually be an option to join your party, depending on how you steer the conversation

I meant a real companions. Real people. Acually, problem solved, i just use a singleplayer.