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Yup you get 1 permanent Palico that you get to customize.
You can customize what weapons and armor they have, effectively changing the role they play in your group. You can have them use a plunderblade that steals materials, or have them set traps for your, or heal you and all that good stuff.
As someone mentioned as you do side quests the palicos can tame smaller monsters and bring them into battle. They also can learn to socialize with Palico tribes and recruit them to help during a mission. (so even while in SP, you can have a party of 4 total for a duration)
Getting the additonal weapons from the Palico tribes, learning how to tame monsters for each map and recruiting tribe members for temp support are key to your Palico enhancements.