It's been hinted by the devs that the Fallout series in the future could be getting some sort of Co-op multiplayer and this is how I think it could work... (mind you this is a quote from a comment I made on youtube that's why it has the white background).
Simply have it like this for both the next elder scroll game and (or) for the next fallout game. The only way a player can join you in co-op is if they take control of your companion (if you have one) then at the very least it would make sense. I can see why fans would be nervous about a second mysterious vault dweller just poofing in out of nowhere with their own ridiculous gear it would simply break immersion. While if a player joins you as your companion he/she's stuck with the companions stats and equipment until he or she finds other things on corpses while they're with you. That way they won't be OP as [censored] and they're simply taking control of a companion you already had with you in the game so it wouldn't break immersion (unless it was a screaming 12 year old on mic or some silly [censored]) And if your friend or random joiner has a problem with the companion that you have chosen then you can either get another one or tell them to F-off. I honestly think it can work but it can't just be 2 vault dwellers randomly appear side by side out of the blue.