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There are a few exceptions, though. Shae Vizla is considered the best dps companion because of her aoe missile ability. Z0-0M on the other hand is considered the best healer Companion in the game. But you can only really tell the difference compared to the other Companions if you do more challenging content.
It is a bit of a pain that there's a gap between getting your first companion and then your 2nd and so on. Your first usually ends up with a fairly decent influence number by the time the 2nd comes around so if you switch you end up starting back at lvl 1 with the new and unless you're willing to buy gifts to boost the number back up swapping companions does put you at a disadvantage for a bit.
Not super relevant but also worth noting that with the characters being streamlined, their weapon sets have been changed too. However certain class story quests still reward character specific gear. For example one of the Trooper missions awarded an assault cannon for Aric Jorgan. Only option was to sell it as it was only usable by him, but he couldn't use it as he wasn't allowed to use assault cannons.
I hated using a character and wanting a specific companion spec to go with me but not the companions personality. I preferred a healer to go with my Sith Warrior but i hated Quinn. On my Trooper Commando and BH Merc i liked doing double dps but i didn't like Jorgen or Gault. If letting me take the companion with the personality that i like and choose the spec that i like is "destroying the uniqueness" then i'm glad they did it.
Homogenizing the companions is what they should have done from the start. Then maybe we could have retained the ability to kill/dismiss/refuse to hire certain companions instead of being forced to keep certain spoiler companions after certain spoilery story events.
Any differences between companions in any given role has always been pretty miniscule. Even the choice to use a DPS companion over a tank or healer has always only been based on miniscule differences in combat efficiency/speed/recovery time. Before companion normalization somebody did a test with Jaesa/Quinn/Vette and found that over 60 seconds, a DPS companion--including regen time between combat--was more efficient but only by literally a few seconds.
Literally the ONLY thing that made Quinn and Vette unique from each other was that Quinn was a healer and Vette did more DPS. Does it REALLY matter that Vette can heal and Quinn can DPS more efffectively or that Tharan can tank if you can't stand Qyzen?
There isn't really enough to work with here to min/max. You'll get a lot more mileage out of the legacy class story presence buffs and influence than you will trying to find the absolute most efficient dps or healer. Some companions have an ability that others lack that might make them barely-measurably better at a role than others. Unless you derive great satisfaction min/maxing in games, it isn't worth the trouble obtaining special companions for this purpose.
In my eyes I think they should at least have kept the weapon sets for companions or even just broadened them to simply ranged or melee for each companion. cosmetic appearance is the only other thing that still matters besides personality, as much as Vector is a good tank for my agent character, I don't like the weird tech staff he has to use, I wish we could swap in lightsabers for any melee companion.
The Inquisitor companions choices were always sub-par in my opinion, same with the Consular (which may not be surprising since they're mirrors). The fact that neither class has what I'd consider a viable female romance may have something to do with it. Ashara is just annoying and Nadia was too late to make any type of story impact but found her pretty dull too.
Then again I'm comparing them to Vette, Mako, Kira, and the rest of the good ones, so maybe that's why.
Now if you're asking from a gameplay point of view, it comes down to do you want a melee or ranged tank/dps/healer? I've found ranged to be better overall, but the melee ones tend to have a slight edge agro-wise.