I had an incredibly long, incredibly detailed suggestion that I submitted through the game and intended to post on the forums. That being said, my 7760 character post FAR exceeded the 1000 maximum, so I will shorten my thoughts severely.

Using a companion feels like a punishment, to some degree.
1. They take up a party slot, therefore use in a party is limited.
2. Companions must be dismissed to play some quest sequences.
3. Cannot use Duty Finder with companion out (Forcing a choice)
4. In light of the three aforementioned points, the XP required to l level your companion is absurd.
5. Cannot respec companion.

Solution(s):
1. Consider the companion a pet, therefore not taking up a party slot.
2. Companions already go into "wait mode" while in a city. Why can triggering events not put them in the same mode?
3. 1+2 would fix this.
4. 1+2+3 would address this partially, maybe FATE xp as well?
5. Easy fix, add an item/trainer.
Thoughts?