Try dismissing one or both companions, level up and (if that works) re-hire.
Please email supportdos@larian.com, with a description of the problem and the report.zip file generated by the
D:OS support tool (for the PC version). The report will contain system and game information, any crash dumps, and your saved games. If file size is an issue, any saves not related to the problem can be deleted (probably just need to keep your latest save).