You would need to create a unique character or mod in-game dialog for that to happen (and maybe create some unique encounters).
I agree that it was a big mistake to leave out that sort of character interaction. This game seems to be more about combat and the overall story and not about unique characters and dialog. That's why when you go to the inn to hire another party member you just create one from scratch rather than having to pick from 2-3 NPCs who have their own goals and personalities & then trying to make your group work. From a player standpoint that makes it easier since you can fill a hole in your group with whatever sort of character you want but from a flavor standpoint that character you create is a dull robot.
