I think we really missed out on Rauru being a companion for the entirety of TOTK- someone you could talk to and could give you descriptions of different places- or lack thereof.
On the other hand, I doubt Nintendo would have done a fraction of the interesting things I've imagined for such a companionship:
Only Link can see him. This is in line with the tidbits from the game that imply very few people can see poes (mentioned in a Yiga journal) and from what we know about only Link being able to see koroks and talk to statues. That, and of course, they're linked.
Rauru, having died during the imprisoning war, wouldn't know about Zelda's fate, or the lengths she and the sages took to prepare for Link. It's possible he wouldn't even notice the fake Zelda, either.
Imagine the angst of being reunited with his sister and learning how long she's been stuck as a spirit too.
Link is probably the only one who sees the memories, but Rauru could ask about them.
He could be excited to share info about certain locations, but extremely cagey about others. I imagine the Gerudo region, both on the surface and beneath it, would have a lot of moments like this.
The ending actually carries some weight, because he's not just showing up after dissappearing.
Going further into some interactions further from canon, though...
Rauru can still seize control of his own arm if he so chooses. I can imagine he may even refuse to give that up if there's something he doesn't want link to see?
Imagine as you progress, there's more clues that point to sinister acts Rauru had committed in the past... but Link has to pretend not to care, really, because the perpetrator is fused to him.
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