Think they'll ever let us use the companion in more places, or update it?

[KisaiTenshi]

I've heard that they're planning to retrofit command missions with the Trusts/Duty Support AI, but who knows when that's coming, if indeed it is. I doubt it means they'll ever fully fix the whole Squadron system anyway (or fully implement the cut ranks, etc., to the GC stuff at large), but still.

The thing is, the trusts are an answer to toxic PUG DF. So if the healers want to strike, they can basically avoid all DF content by using only the NPC trusts. DPS and Tanks meanwhile don't like the NPC trusts as much because they can't go wall to wall with them. The trusts are somewhat dumbed-up versions of the squadrons.

The squadrons don't follow combat mechanics (don't know if they do now either since I haven't checked), the trusts do, But this is why you are limited to who are "trusts" (playing the same content with the trusts and the squad is very different), the squad basically requires a lot of "engage, dis-engage" to avoid party-squishing mechanics, because the squad follows your movement, while the trusts follow a scripted movement for each entity.

PUG > Trusts > Squad > Chocobo
In most cases, the trusts are "good enough" that you can play the content and not have to wait for the queue. But it's pretty clear that Squad and Chocobo could be improved to have the scripted nature of the Trusts, but I don't ever see them bothering to. The squad continuing to exist after Stormblood doesn't really have a reason to be used, because "We too back Ala Mhigo", there's no reason to keep a standing army around now. Endwalker only solidified that, by taking out the Garleans as the big-bad.

[Akibaws]

This was the original plan during the beta of 2.0. Chocobos were to join you in dungeons.