This beautiful game missed out on some amazing companion opportunities. I would have traded any of my given companions for rangers Dorso or Bellena, Ygwulf, Aelfyr, and a couple others. The first two games had companions with more character, attractiveness, emotional resilience, and more dispositional or ideological diversity. Here, you either feel alone in some of your most important moral choices or you feel like you're in an ideological echo chamber, depending on  the mood you set for your play-through . 

What I think is more annoying is that you don't have one companion that is loyal to the Empire.

So if I play a character that is loyal to the empire, I will necesseraly be at odds with my companions.

I would have been quite happy with that.