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As you explore the main cities, go to the bars, you'll find crew members there that specialize in one or two things to add to your crew
Your best companions will be Sarah, Andreja, Sam, or Barret. They have ship and ground combat skills to help you a lot. Pick one to be your buddy or eventual wifey.
You build an outpost. You put a crew station down. (Looks like half a cubicle)
You hit tab, click on ship, hit C for crew management. Select Lin. Unassign her from ship. Assign her to the outpost. Her best skill is outpost management. That’s her purpose in the game.
Heller too, helps you build outpost stuff since outpost engineering is his skill. Need a 2nd crew station in the outpost to run both of them. Or 2 diff outposts.
Nope, those two miners are not for following you around. Half the recruitable NPCs in the game are only for ship crew or outpost staff.
All the Constellation members are best for companions. There are a few others, but their skills are far lesser…
Cheers.
Lin cannot. Heller can. There are other crew scattered about the game that can be companions as well who are not story characters. There's a lady in the outdoor bar in Akilla, for example, who is pretty much ONLY useful as a companion (she has no skills that benefit ships nor outposts).