How about Skyrim companion (mod) Sofia?Easily and by far my favourite is Jespar Dal'Varek from Enderal (a Skyrim overhaul mod):
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Yeah, he has the usual flaws of literally any Skyrim follower (pathfinding can be hard, gets in the way during combat, blocks doorways), but he also has a clear personality and a proper background story. Plus, his English voice actor is perfect.
I generally have a strong dislike for any follower type companions because they're annoying (due to reasons listed above, and often more), and I can't think of even one other whom I actually like.
(I don't have the games installed so I cannot take a screenshot; this image is from his wiki page that contains spoilers.)