The Skyrim companions were better than Fallout 3 but not as good as the FONV companions.
Except Serana, she was at least as good as the FONV companions.
The Fallout New Vegas companions were excellent, but there are a lot of mod companions that are even better.
Hopefully they will pull from them too and step up their game.
For Fallout 5, I want them to let us bring two human companions on missions and hire someone away from Bioware so they can get that wonderful Bioware banter with you and each other.
If the F4 companions have good banters and story lines (and stay out of my line of fire), I will be on cloud nine.