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Yes, you can go in your inventory and put a new one in for no AP cost, or switch to your secondary. Yes, it refills.
As to NPC Companions throwing them when the go out of control I don't know. I give my NPC Companions only enough combat equipment that they need to do their job andn othing extra (unless juggling handoffs in combat). Had too many "other" games where the NPCs suddenly run off stealing all my gear to trust anything thats not permenantly mine :)
If you click on the weapon image at the bottom middle you can free aim grenades. You can also free aim any weapon with this, allowing you to shoot explosive objects and destroy light cover when in combat.
As far as I can tell, the main penalty is that if you unready a weapon and put it back in your backpack, it's automatically unloaded. If you draw it outside of combat you'll automatically load it again, but in combat you draw it empty and it'll cost AP to do so. So, if you have the choice, swap out a melee weapon or a gun that's already empty.