The games I listed for best companion AI were:
Final Fantasy XII
Dragons Age Origins
Pillars of Eternity 2
Because in order of release, those are the games that let me create my own scripts for how the AI behaved, from “drink a potion if you are low on health” to “If you aren’t hasted, Haste yourself!” and I think that’s just the best way to do this sort of thing.
I also voted strongly for turn-based as the way to improve combat, “the way D&D was meant to be played” I wrote. :)