They were thinking of adding such system for the duty finder so players can group with npc to do the dungeons were its hard to find other players for. But like the FC Primal feature, the developers have only said, they are thinking about it. I think aslong as they dont fixt the server memory issues, we wont see realy new things. Imagine this, they are having issues with adding more inventory space, what makes you think they able to add new companions with skills and weapon+ armour space.

I love the suggestion, but aslong as the server memory stuff is not fixed, dont expect it.