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EDIT: There are some companion modifications out there, you know?
https://www.reddit.com/r/mountandblade/comments/g13gqh/all_bannerlord_wandererscompanions/
check that reddit thread out for companions with high medicine skill
Not sure about nobles though
You should save and recruit and reload with each possible companion.
My best healers so far have never been willowbark and healer but other companions like accursed. It is often that an thief/assasin companion will have superior skills for a healer.
Don't focus on the name and train them as you like is my tip.
Medic is less needed than intelligence. These Stewards are great medics if they have int.
1int +3 medic is less worth than 3 int and no medic.
You can make some 3 int 0 medic guy very fast into a good medic.
Often times having a companion not trained in that skill, but with a good stat number is somewhat preferable, due to how slowly companions level up otherwise. It also allows you to pick the right perks for them, although that is not a major concern right now, due to most of them not working anyways.
Personally, I start out with a rotation of the different melee and ranged weapons for each companion until they get the "easy" points out of the way, and do the same with scouting/medicine/stewardship, rotating those positions among my companions.
It is a 10x multiplier compared to skill points in the formula for the base learning rate.
3 int goes as multiplied by 3 and 3 medic goes as multiplied by 0.3
But maybe I am wrong.
Somebody knows more?
edit: agree 100% with kernest, it is easy to level them up when you train everything possible, I had one engineer, 4 smiths, 3 medics, 3 scouts, 5 good fighters and 6 companions in total.