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The main thing to watch out for with companions is that they stay in the power armour, since (apart from Danse) they're not locked into it. I usually use a companion to help ferry extra frames I find home to my personal base. As a quirk of the game mechanics, a companion can even bring power armour frames into the VR worlds from the Creation Club if you've got that (the player can't do it since they need to leave their power armour to use the VR pod).
However, I love using the CC Sentinel PA companion. His armor pcs do not break and when equipped with a melee weapon, he kicks ass. He also will not count as companion which will cause you to lose the Lone Wanderer perk buffs.
I've used it once or twice for some of the more minor characters I've played.
Yeah, I have a mod to put it on all the vanilla companions