Having a few characters without serious psychological issues would be nice. I feel that these days many people confuse interesting with insane characters. The kind of hero adored and praised by the ancients would be considered boring and 'one dimensional' today..
I doubt it. Achilles was a major asshole, so was Odysseus. I doubt either one would fit into polite society today.
I do agree it would be nice to have a few companion choices without psychological problems, and maybe we'll get that with the remaining companions we haven't seen yet.
Also, I wouldn't put Lae'zel in the category of psychological problems. She's a non-human warrior from a heavily martial culture who considers everyone not from that culture to be inferior. A Spartan, basically. She only has "psychological problems" from an outsider perspective.