You can have followers, but how about you go in their shoes and become a follower yourself? Think of it as having a tour guide travelling to random places in the wasteland, not just the main quest destination, and you can follow him/her. The guide will be extremely tough so you can rely on him/her for protection (that's the main point of a guide) And in return you get safe passage to that destination and a small share of the loot the guide finds at the destination. For roleplaying purposes especially, would be cool to roleplay a follower.
Sometimes you can for a limited number of times to ask the guide for a rest break, and set up camp for a few hours so you can explore the local area before heading off again.