Originally Posted by MacGuffin
Either we need our companions to be able to automatically jump in when we hit their area of expertise (highest bonus in the party), or a way to manually swap out characters. The 1st is harder, but in my opinion better.

Yes. Kingmaker does this. For example, if you have a dialogue option that is a diplomacy check it will use the stats of whoever has the highest diplomacy score in the roll unless the situation specifically requires the main character like you are making a speech to inspire your troops, your companions can't do that for you. Works great. For this game, the character models and conversations are so nice it might be better to actually switch the camera to see the companion speak up.