This is the correct answer.

However, if you do, do a bit of research on how to "program" your companions.

Basically, you can go in and set up if-then chains in their interface to guide their actions and behaviors.

You'll particularly want to focus on your tank & your mage if you're letting them be NPCs. The AI cannot tank without going into their settings.

Also, you will hear "enchantment" in your dreams. Welcome it.