So I've noticed that every few minutes this annoying moaning and groaning and heavy breathing (very similar to Peter from Family Guy) starts playing and I can't tell who it's coming from! My limbs are completely healthy and Boone isn't damaged. When I try talking to him I don't get any new dialogue options and I'm stuck with these annoying sound effects replaying.

Anyone know what may be going on?

The only time that that has happened to me has been when Boone has a crippled limb.

same as last poster, that typically happens when companion has crippled limb. only way to heal companions crippled limb i think is to sleep.

I had a similar issue with Veronica - she had full health, but we'd just run the gauntlet to Nellis so she probably had no limbs left. Sleeping didnt make a difference, and I had to manually use a stimpack or two on her (jn the companion wheel thingy)