Also I only added western rpgs, as people told me that the majority of jrpgs have companions (great companions!) so doing a rec lists of jrpgs with companions would be quite long.
I added a little * for games that I did not play, so the information for those is not confirmed by personal play through.
Beyond Divinity = you play the game chained to the one and only companion
Divinity Original SIn 1 = Not only you play two characters, but you can recruit 4 companions, each one of them has a personal quest.
Divinity Original Sin 2 = You can play as one of the characters or you can recruit the main characters as companions. But you can only choose three at a time! Plus romance.
Torment: Tides of Numenera = you can select between six companions plus a ball of goo, each of them has a personal quest through the game.
*Blackguards 1 & 2 = I know you can recruit five companions in Blackguards 1, not sure about the number in the second game.
Dungeon Rats = the game lets you recruit different characters, but their characterization is barely there (and absent in some cases).
*King’s Bounty: Armored Princess = you can recruit seven companions, not sure about their characterizations.
*Wizardry 8 = you can choose between 7 companions (some temporary only during their quest)
*Druidstone = double check before buying! the game promises party and companions to recruit but I am doubtful about characters interactions
*Black Geyser = the game is not out yet!! But there will be companions and companions quests. Up to 4 or 5 companions and romance as well!
*Realms Beyond = the game is not out yet!! But there will be companions, romance and quests.
*Bound of Flame = you can recruit up to five companions (and if I am not wrong, there are two romance options as well).
*Ultima series = the majority of the Ultima series (a part from the first few games) has a long list of recruitable and recurrent companions.
*Betrayal at Krondor series = Betrayal and Return let you recruit allies. Pretty sure you can also recruit companions in Betrayal in Antara (which is not exactly a sequel).
*Fallout series = all Fallout games let you recruit companions!
*Unavowed = I am cheating a bit because this is not a rpg D: I am sorry!