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I'm playing with the Vilja mod and while the voice-acting is sub par it has some great writing. The quests are tolerable, but what stands out is the location awareness of the companion. Vilja will admit that she hates fighting undead and is pertrified of vampires. She's not too keen on Dwemer ruins either. However, if you take her to any of these spots, she'll make valid comments. She might mention how Dwarven Centurions can drop out from anywhere, how bandits never seem to have enough food to keep everyone fed, how beautiful the Gilderglean is, etc. She is so much better than the companions in vanilla. Speaking of which, she will have conversations with Lydia, sometimes getting Lydia to complain about her housecarl duties
One of the best parts of Skyrim's companion system is the dialog that they say in certain areas. For example, Marcurio will talk your ear off about Dwemer ruins and give you various tidbits of lore and insight. I love that aspect. I hope the next Elder Scrolls game really expands that part of the dialog. It goes so far to adding to the world immersion.