Oh a funny story, someone elsewhere was adamant to try to convince me that the characters had soul and that dialogue scenes with them had plenty of facial expressions and everything. I basically said what I said earlier in the thread to which many agreed, that the characters lack any meaningful persona and lack soul that makes you want to like them or root for them in the story etc. I literally showed the screenshots and videos I have accumulated over the 30+ hours yet that wasn't enough to convince them that there are glaring issues with the voice acting, NPC facials, and overall connection with your crew/sidekicks.
How many instances of Sarah facing away from you during dialogue does it take to convince some people that there are obvious issues lol. The community has let Bethesda through the cracks one too many times with stuff like this.
I think people connect to these companions in different ways.
I mentioned earlier in this thread that the romance side of things in Starfield is oddly tame and that Cyberpunk IMO is the gold standard for how to write good companions *however* other than a few specific missions, the companions in Cyberpunk are essentially set-dressing and once you've completed their quests they go and sit somewhere for the rest of the game and play no active part unless the story requires it.
Bethesda's companions are (typically) always with you (assuming you want them to be) and a lot of the attachment (or not) that players will feel towards them will come about through spontaneous (often ridiculous) unscripted events that occur during play.
I will say the game does a really good job of delivering contextual exposition through the characters that feels spontaneous and typically doesn't repeat (they do have canned responses though obviously).
Also, the two questlines I've played that are companion specific (Sarah's and Andreja's) are quite poignant - but I do get that someone's ability to take those stories seriously can be greatly impacted by an animation system that strains to get the character facing in the right direction.
*Edit* and on that last part, to elaborate a little - for whatever reason, characters are rarely manipulated by the engine in Starfield - the only time you'll see it is when a companion gets left behind or stuck - then the engine will reposition them (hopefully) free of obstacles. Otherwise they'll just wander around using their own rules and logic to navigate the world and display various behaviours such as sitting and tinkering until the player talks to them or moves out of range or combat begins.
When you converse with them, unlike many games you don't get a 'cut-scene' where something is constructed specifically for the conversation, instead the camera gets close in on them wherever they are at that moment and they *attempt* as best they can to turn to face it - often this just doesn't work because they're colliding with something that prevents them from doing so - hence some very awkward dialogue scenes.
It's bonkers - and quite frankly I find it endearing but yeah, polished it ain't.