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Minsc, and Boo, of course! How could you choose anyone else?
HeadCrab from Torchlight 2
Shame on all of you for not choosing the same!
Leliana from Dragon Age. Especially with pack that change her to the trailer version.
I'm rather fond of Deekin .
Joey from Beneath a Steel sky, EASILY! I've never had so much fun on an adventure before. :)
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YouPickOne: Minsc and his miniature giant space hamster, Boo. I can't possibly fathom a playthrough of a Baldur's Gate game without them.
Go for the eyes Boo! Go for the eyes!

Recently, Bastila Shan <3
Post edited December 19, 2013 by s23021536
My favorite companion would be the Dog from Fable 2. I mean this dog goes through hell with you and what kinda thanks does he get in the end?! Thats right, you Sacrifice him for the greater good!
Agro - Shadow of the Colossus
Have a few, really:
HK-47: Knights of the Old Republic 2-humor factory, and his annoyance at his old companions from the first game
Kreia: Fantastic voice actress, and genuinely well-written, with an understandable motivation, and one's that's better than arrggh! Dark Side!
Boone: Fallout New Vegas-once you get into his (depressing) back-story, you feel sorry for him, plus he's the only companion that isn't trying too hard to be funny.
Da'kkon-Planescape Torment-fantastic back-story with the Circle of Zerthimon, and his enslavement. Also badass "bro" moment once you get him through the final level of the Circle.
Vhailor-Planescape Torment-combat monster, and the very definition of lawful neutral. Looks pretty spiff to. I kind of linked his single-minded pursit of justice... and how you can destroy him by convincing him it's meaningless.
Noober from Baldur's Gate. While not technically a NPC, he stuck with me like a brother.
Fidget from Dust: An Elysian Tail. She is the heart of the game.
The Demon familiar in Castlevania: Symphony of the Night.
Post edited December 19, 2013 by chevkoch
Hmmm this is a tuffy...I would have to go with Bastilia in Star Wars:KotOR because I love Jennifer Hale(in a non stalker way lol) Runner up would be Garrus from Mass Effect.
The Rogue from Diablo 2 you get after killing an early unique enemy
Hmm, it either has to be the Demon that inhabits the Black Sword in Ultima VII (I love that evil son of a bitch), Max from Sam & Max (I love that evil son of a bitch), or Doviculus from Brütal Legend (I love that evil son of a bitch). Hmm, I think I sense a pattern...maybe not. :P