Forcing companions into the party

Basically the title. I am so tired of choosing who to leave behind for some dead weight, losing party comp, banters and reactions from someone I actually prefer (yeah, right, toybox). In pathfinder some of companions’ quests have them joining as a friendly npc without ruining your patry, and I think this is how it actually should be in all occasions. I will be honest, Lex quests made this irritation like x10 for me. what are your thoughts?