Also, more fleshed-out companions at the cost of fewer companions is not a "wise" tradeoff by any means. If that's the case, why not go down to party size of two? Then we could have even more fleshed-out companions!!
Kim Kitsuragi from Disco Elysium would suggest that it's not a terrible idea. At least sometimes, for some games. Also skills in DE where kind of like companions as well.