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It would likely also be annoying for players who do want to do quests, if they can never find any. So.. probably just accept it and take one for the team, so to speak.
not all quest are suitable for companion, but annoying things like recruit bandits are very easily handled by companion. (mid game ur large party size cant chase down bandits, let companion do it)
Edit. Instead of thinking about it as something annoying that you need to do, think about it as optional; it is something the player can do if they want to speed up the process of developing their fiefs.
What I personally do is settle with two towns (as king) and use my brother and one wife, both specced to lower garrison cost, to govern them. That leaves a few places to store troops and by virtue of good governors and cheap garrisons they can easily "tank" any negative malus.
Basically, fire and forget. It leaves you more time to pursue more value adding activities.
But yes, they will eventually time out, you can just ignore them and all you're taking is a small temporary hit to security, loyalty or prosperity growth.
I seem to notice a positive boost to loyalty when you do a quest, and nearby hideouts hurt your town the most, so it doesn't hurt to knock one out once in a while.