Absolutely. The 'problem' companions are the Priest, the Wizard, and the Druid - the three classes with more than a dozen active abilities each. The others (Fighter, Ranger, Chanter, Cipher, Paladin) are low-micromanagement classes for the most part; the Cipher does have a few abilities, but they're both not per-rest (or per-encounter) and faster to learn than the others because she has fewer of them than the 'problem' classes.