Deacon for his Perk. Or any Companion you can equip with an Armor piece of the type "Chameleon". You only need one piece of Armor for it to work. You should also equip 1 piece of Armor of the type "Chameleon" on your character.

Exactly.

I found Dogmeat was the best of the companions but the other companions can be all right as well but I find it is just easier to command Dogmeat

They are all the same, imo. I take Danse with me when I want backup. I usually play a sneaky sniper, and depending on weapon loadout, having him around to mop up aggroed mobs is a plus. His laser rifle makes him very effective at killing/hurting stuff and he can take a mini nuke to the face without hitting the ground. I don't have to give him something else to wear, a different weapon or worry about whether or not he's got himself into a situation he can't handle.

I actually don't mind Strong as a companion when I'm sneaking. He's so aggressive that he runs right in to combat and I get to snipe from the shadows. I've even snuck up behind mobs and taken them down because he has all their attention. Doing it now in Borers.

I know people hate Preston, but I think he's pretty good as a companion. He must have a stealth boy that doesn't show in inventory because whenever I'm crouched nearing enemies and look for him to see if he needs to get ordered, he's behind me invisible. I've had to tell him to stay the least.

This is a good point, as he usually tries to engage long-range. Never really thought to choose him as a companion outside of the Minutemen missions themselves.

Usually, when I sneak, I use Dogmeat and put him behind me or far off on a flank. You can always highlight them from a distance, tap "E", and then tell them to attack a particular target or move to a new location. I find him really effective as a diversion tactic. I fire off a few rounds, displace, and if the enemy starts tracking me, a have Dogmeat rush in. He usually lasts long enough for me litter the Wasteland with Bandit dead...

Deacon.

And its perk its quite a good one for that matter, too.