That said, once upon a time I heard it said that the game would eventually force you to pick your team. I know some people are against that but I would personally LOVE it. I'd much have a story moment that forced me to make the hard choice and cull myself down to only three companions.
I really hope they do not do that as the companions in BG3 are much more pronounced, livelier and intimate. Not to mention incredibly useful even if they're resting at the camp.
For example; my main party is Crimsomera/Shadowheart/Lae'zel/Astarion. I taught Gale all the scrolls I can find in the game and use him as a healer/buffer whenever I'm within the camp (reason why I never have to fully Long Rest). And I could find a similar use for Wyll, but so far I haven't found the need to. So everyone has a purpose within and outside the camp.
Otherwise there wouldn't be much of a point in gaining attitude, especially with Gale and Wyll who reflect on our decisions, even if they're camping. Would be quite saddening to be frank.