I know that I am doing the opposite of what this thread is suposed to be but an unpopular opinion here: Not being able to control your companions is a great concept.
It might not work all that well as companions can be really dumb and ruin your entire day, but it completely changes my perspective over the entire game. It somehow makes the game much more about MY character and MY narrative instead of a group one, in games like Fallout, your companions are not meant to be main characters like you, they are part of the secondary cast suposed to help you out on your journey, this feeling is somewhat lost when we move to an fully controlable party, the game for me starts getting that same XCOM feeling on it and the story starts being more about the squad them your main character.
Not saying that this is a bad thing at all by the way, just that specifically the classic Fallouts work better this way.
A sidenote that I wanted to add is also how much of a personality is given to some of those characters on combat, from Myron running away to Sulik fucking team killing someone because he can't handle an smg, it makes my party much more unique.