I really like the idea of more relationship-building-but-not-romantic dialogues with companion characters, too. It shouldn't just be "do the romance to get a lot of extra story content with this character, or get nothing". There should always be some alternate type of relationship you can pursue with them that isn't sexual. Like becoming good friends, or some kind of mentor/student thing, or like a protector/protectee thing (like Minsc and Aerie), or even rivals who compete over everything.
With this I completely agree. I'd love some possible non-romantic relationships that aren't simply "I'm nice to you because my approval rating is high". Like the examples you mentioned.