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Only for specific missions.
A companion could have been a world of a difference for fun. But I get how hard it would have been.
If you mean a pathing issue. They can easily have the character transport to the main character.
Any time I would go into castle full of enemies my character would say something like, maybe they get some help etc. I was just curious. I didn't see think so since in all my time I didn't an option to return to them and get them to join you. Outside from their story stuff.
Like there was time when I saw Sebastian fly through some rocks just to catch up with me. It was funny.
As you mention, they already teleport to you now during the missions they are designed to work on. They have pathing issues, on the few stages companions are enabled on! Imagine how bad it would be for the rest of the world.
You also have to deal with a lot more than that. AI behaviors and all that. This is why it isn't as easy as people make it. This is why not ever game does it.
But yeah, I wish it was party-based. It would have been more fun and I'd probably be more interested in playing more.