Personally I prefer to limit myself and bring my companions strategically in relation to my characters role play.
As my character Eva is primarily a lightly armoured handgun user she doesn’t do too well with close combat, so she brings Veronica and Cass along. Veronica is our ‘tank’. She’s fully armoured it complete brotherhood power gear so she absorbs damage and is a good distraction. I like to use Cass because she’s a good shot and I like her quirky comments
What about you?