Agree with OP. So many examples of games that do this well. Just follow their example on this one.
I think a lot of it works if you have multiplayer going... but its rough for single player. Companions shouldn't be a huge pain in the ass to manage.
also make companions actually do things in conversations more. Like Rogue pulls a knife and knocks you to the ground and your companions just stand idly by and watch? Glad to see they have my back...
