I'm going to say something controversial. I think there's something Veilguard does better than any other Dragon Age game. Namely: incorporating the companions into the plot.
Look, I love Origins as much as everyone. But to be frank: you could cut every companion except Alistair, Morrigan and Loghain and the plot could still work. Once you've finished the mission where you recruit a companion, there aren't other main quests that involve them in any way.
Oghren and Wynne could have stayed home after their recruitment missions for all the difference it would make to the main plot. Sten, Leliana and Zevran could vanish and nothing would change, because once they're on your team, they don't interact with the main plot at all. (There's the Temple of Sacred Ashes, I suppose - but even then, you'd be going on that quest whether Leliana and Wynne were there or not, and it's very telling that they can both die here and next to nothing in the rest of the game is impacted.)
Again: I love Origins. This doesn't detract from any of these characters being great, or from the story being great. It just means there's a layer of separation between the two. They're involved in the story, but they're not driving it, and you seldom get to see them have strong feelings about it.
DA2 is a huge step up. Your companions' personal stories are integral parts of the main plot. You can't do the Deep Roads expedition without witnessing Karl's death and its impact on Anders. You can't enter Act 2 without seeing Varric's brother betray him, or watching your sibling either die or begin a new path in life. Act 2's climax happens because of choices Isabela and Aveline have made. Act 3's endgame is all about Anders making one enormous decision. Even Fenris and Merrill, who have the fewest ties to the plot, have strong reasons to be invested in the Mage/Templar conflict.
And then Inquisition just... backslides. There are multiple companions you don't need to recruit at all, or can send away with zero alteration to the main plot. Your companions don't like Corypheus because he's bad, but no one - except maybe Varric - has any strong personal feelings about him. They have no personal stake in defeating him, not like Alistair has a personal stake in opposing Loghain, or Anders in opposing Meredith.
We go to the Winter Palace, and Vivienne is not made a part of that story. We have a whole subplot about the Wardens, and Blackwall only gets a couple of extra lines, if you even bring him. Their personal arcs could have been somehow impacted by these missions, and they're just... not. Sera is packed with internalised self-hatred that manifests as trying to distance herself from elven culture, to the point of sometimes lashing out at other elves. And despite all the missions you do where elven history features... Sera's growth past that flaw happens entirely offscreen between the base game and Trespasser?????
IMO, this is one of the biggest reasons why Corypheus is such a bland villain. He doesn't make anyone grow, except by starting a plot for them to be part of. He doesn't challenge them emotionally. No one is invested in him. Because no one interacts with the darn plot.
Veilguard, though? Veilguard keeps your companions interacting with the story the whole way through. The Treviso/Minrathous choice affects both Lucanis and Neve heavily, and impacts who they become for the rest of the game. These cities are personal to you, even if you're not a Crow or Shadow Dragon, because your companions love them.
The Siege of Weisshaupt is beyond personal to Davrin and Lucanis, both of whom are entrusted with major parts of the quest: trying to kill the archdemon and Ghilan'nain. Lucanis is affected by his failure to kill Ghilan'nain for ages afterward. Davrin is haunted by survivor's guilt; he should have died when he struck down the archdemon. He's alive. How can he live with that?
Whenever killing the gods becomes a possibility, Rook hands the lyrium dagger to Lucanis. When the squad go to fight the gods' dragons with the Wardens, Taash is the one to flush the first dragon out. When you infiltrate the Venatori, Neve tricks your way in, and everything that happens is especially weighty to Bellara, whose people have been abducted. On Tearstone Island, because of how Lucanis and Spite have grown, they strikes true.
Did you not hate Elgar'nan before that mission? Because you probably will after you watch him capture Bellara or Neve, and see his fellow god kill Harding or Davrin.
You know what's a great piece of writing? There's no reason Emmrich shouldn't have been an option to deal with the wards on Tearstone Island; he's one of the ideal options to take out more wards with the Veil Jumpers in the final mission. But you can't select him to do it. Because Emmrich has far less personal investment in the Elgar'nan battle than the other two. This is Neve's city. This is the monster who tries to call himself Bellara's god. The game makes sure the characters who take control of the Blight at the end are the ones with the greatest stakes in doing so.
One of your companions, not you, wrests command of the Blight from Elgar'nan. The final mission depends on how well you've come to know each companion's skills. They're just... always involved.
And they're invested, too. The companions all have serious personal reasons to hate the antagonists by the end. Lucanis and Neve have either seen their city burn, or know it happened at the cost of their friend's (and potential partner's) hometown. Davrin has seen his order devastated. These are Bellara's and Davrin's supposed gods, and instead of helping the elves reclaim their history and culture, they're trying to enslave the world. Harding learns that the Evanuris maimed and destroyed her Titan ancestors.
Emmrich and Taash have perhaps the smallest emotional tie - and sadly I do think Emmrich especially gets underutilized in the plot. But heck, Taash is still hella motivated by the way the gods are abusing dragons. And Emmrich is tied thematically to the main conflict. He's facing the question of immortality, while nigh-immortal beings are right in front of him, proving how that gift can be abused. The final choice of his personal arc is whether he's willing to embrace his personal, mortal attachments, at the cost of consequences that terrify him... you know, the same question that Solas faces at the end.
And don't even get me started on how everyone is emotionally tied to Solas. Harding and Neve watched him kill Varric in front of them. Everyone not dead or captured has to watch him drag Rook into the Fade. Just about every companion faces some kind of huge regret or failure at some point, in constant foreshadowing for Solas's prison of regret: both the literal one he sticks Rook in, and the mental one of his own making.
Veilguard has its problems, but it absolutely shines at keeping its characters involved and invested in the main story. It gives them things to do, it gives them reasons to care. For all the flaws this game has, this part is good writing.
