they often rush into a ultimate tough battle even you set them pacific attitide already.

if developers can't solve this problem, i suggest to apply another attitide command: "immobility fighting" make them just to shoot or melee enemies that stop moving.

I agree this is a problem, especially on hardcoe mode where your companions can die.

Getting your Charisma up high will make them tougher and last longer.

Otherwise, I usually have them wait somewhere safe before entering a tough battle.