Videogames are always going to have limited content by their nature. It's either something you can accept, and if not, you don't play them and stick to pen and paper.
I don't play pen and papers but it's easier to understand than you have WAY more team/RP possibilities/replayability if you have 5 companions out of, even only 11 (for the exemple, you'll understand).
In DoS 2 you have only 20 teams combinations if you play with a custom character (less if you play with one of the origins).
In P:K, you only have 11 companions which is not many more compared to DoS2... But because you have to take 5 of them you have 462 differents combinations.
Think you understand now what kind of replayability I was talking about. You can really choose and custom your teams (class but also RP, side quests, personnalities, affinities...) which is the central elements of this kind of game. You can really play/imagine different story, not only few alternative versions.