Recently, a friend turned me on to Capcom’s Dragon’s Dogma. Probably the best thing I’ve played since Skyrim. The companion system is great. Called “pawns”, you customize a single main pawn then get to choose two more from the online pool of other player’s pawns. When another player chooses your pawn, it gives your pawn a chance to learn quest and enemy knowledge that they can bring back with them–making them a better pawn.
The boss fights are epic, and so much more satisfying than the dragon fights in Skyrim (sorry Alduin). My first fight with a Drake took half an hour, lots of potions, and climbing. Oh, did I mention the best way to defeat most bosses is to climb on their backs and attack from above? So epic.