Unless your one shotting your companions, friendly fire really shouldn't be an issue. As the guy the one guy said, he ended up beating a guy to death, which implied he hit him many times. I've had the occasional accidental hit on someone but never beat them to death. Out of the all my dozens of characters, I think I've only twice killed someone on accident and that was because he was low on health from an enemy and I accidentally killed him with a melee swing as he jumped in front of me. This could be fixed with the new AI, like the guards could realize it was an accident in combat (and if your in the wilderness, it doesn't matter because I'm 99% sure psychic guards are gone). However, it would hurt my suspension of disbelief if I hit my companion and he doesn't take damage.
Nah, the guy was talking about the battle of Bruma wich is a confused and for most systems horribly laggy gametime.
Or as I call it: avoid as long as you can and finally just get it over with.
As I said in my previous post, multi NPC combat was just awful in Oblivion.
Im sure if I played on pc the first thing I would do is disable the friendly fire script in the battle of Bruma, as that surely is an oversight.
That being said, I have no doubt that for Skyrim a priority would be: What not to repeat.
And that it is adequately dealt with.