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They were also very useful in bandit hideouts, so I never had to risk losing troops, and when I specifically needed to take captives, I could equip them with maces.
I also liked the fact that I can customise their equipment, making a sort of elite guard. By the end of my last playthrough, I had like 20 such companions and family members in the party, just felt great.
there is no troop in the game that has crossbow skill 200, your companions can have 300 if you really want to do it.
also you get to select perks for them, so lets say you want to have a squad of 15 guys throwing javelins like ballista bolts, then just train the companions up into such a force.
or lets say you want to have a certain troop type that isn't in the game, like mounted crossbowman, only companions can do that.
and ofc they make great captains with the appropriate perk choices.
You can also have them wait in a town or village to increase relations with notables in said town or village.
I set any companions or stray relations as formation V Skirmisher and tell them to follow me in battle as my personal body guard.
So a strong combat companion, and their many Captain perks that buff the troops in their same group number, means that your companion not only fights well, but makes all the troops in their group fight better in their role(s) as well by giving them a lot of perks that the troops otherwise don't get since the Player can't be a formation leader in their own party.
For instance, many of the 1-hand perks include bonuses for formation leaders that can make heavy infantry even tougher via shield bonuses and damage reduction. A strong 2-Handed companion will grant a lot of damage bonuses to infantry. Lastly, Polearm perks are aimed at either making cavalry charges more deadly, or allowing your infantry to better counter cavalry charges.
The perks in the range trees will typically make ranged units more deadly by making (cross)bows and thrown weapons more accurate, deal more damage, and ignore X% of armor with thrown weapons also getting damage bonuses against shields added in for skirmishers.
Strong Athletics and riding also makes same formation troops more mobile, tougher, and more damaging for foot troops and cavalry respectively.
TLDR, strong combat companions can make the main core of your party much better at the role you want them to perform, especially as the number of troops in that group scales upward.
Wow! if that's true companions are even more valuabe than I thought. I thought formation leading(captain perks) ONLY applies when fighting in armies. I would like some confirmation on that.
In battle, I just put all the companions into a squad by themselves and have them immediately retreat. No sense risking their essential skills or expensive gear, like OP said.
Far as I can tell from bannerlord perks site, it does work to use your first living companion assigned to the group.
https://www.bannerlordperks.com/table;role=captain
Also, as someone said above, they can perform certain missions for you with 100% chance of success. Usually, those involving a request for a bodyguard or for intimidating someone.