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Mercenaries die when they die. So, I guess you're talking about mercenaries, not true companions.
Mercs are just too weak and I haven't found any need to take anyone but Grisselda, except for story reasons. I haven't found Hirge though.
Companions also don't get the same raises as you at level up, so they eventually fall WAY behind your main. They get one stat and one skill point and are very weak later on.