Mybe they have adamantium skeleton perk so they dont take limb dmg:) Just kidding no idea why it is like that.
I also encountered semi-essential characters. One of the scientists in the Institute (don't remember which one, but it was in Advanced Technologies or how that wing is called) was sitting down when I or one of the rebels/railroad agents killed him during the uprising. I was frustrated and shot him in the face with my shotgun while he was sitting and he died.
The only explanation I can think of is that the NPCs were formally meant to be immortal and got changed, with "gibs" being an oversight. eg: Turn off "immortal" and forget to turn on "gibs". Maybe that can be changed in the console?
I was trying to get rid of a corpse at a settlement but the head glitched in the ground so I couldn't drag it......managed to shoot its feet off but nothing else and I gave up. Took everything off it and I just have to hope it disappears eventually lol.