Assuming we mean companions we can take with us for most of the game (which would exclude Yenn, Triss, Panam, Judy, etc.) -
The Red Prince - Divinity: Original Sin 2
Maia Rua - Pillars of Eternity: Deadfire
Liara T'Soni - Mass Effect
Jack - Mass Effect 2
Atreus - God of War (2018)
Freya - God of War: Ragnarok
Dogmeat - Fallout (All Installments)