In the 1995 manga by Cagiva, there are a few companions, the first being Rahska! Rahska is a boy Link's age and they grew up together, but instead of taking up the sword he instead uses martial arts (preferring the use of his bare hands and feet). In ALTTP, he's the younger of the two quarreling brothers, which I found was a neat use of the character! The two have a close dynamic where they're trying to show up each other and be the better fighter, but they're shown to be genuine close friends despite their rivalry who would risk their lives for each other, and in Vol.1 they're both in the running to be the hero of legend (but Link wins in the end by saving Rahska's life).
Another party member in Cagiva's manga is the Captain (of the guard). He's a close friend of Link's uncle, and they nearly died together when fighting Agahnim, but the Captain just barely got away with his life and goes on to be the party leader in a sense. He travels with the boys and is the voice of reason and becomes a comfort figure for Link, very early on speaking of Link's amazing combat abilities and comforting Link when he cries, encouraging his emotions.
Honorary mention to Tou (Rahska's father, who I thought was his brother at first?), who had faith in Link even when he was named a criminal and goes out of his way to save Link from the guards at Kakariko and encourages Rahska to join Link's journey.
Secondary Honorary mention to Zelda (Wow!!). Even though Himekawa's Zelda was more present then game Zelda, she....mostly just gave mysterious advice and felt above the plot. She did help in the battle but... she felt out of place? Like she was too powerful for the stakes to really affect her. But Cagiva's Zelda starts swinging (literally)! She found out Agahnim's plan and instead of getting captured, she waits for him to come kidnap her with a sword and she's no slouch either! And when Agahnim comes for her in the church, she tries to meet him with a sword (and sadly fails), but she feels like a real character, and acts the same age as Link and Rahska.