The question is if you like Baldur's Gate. As many have said this games feels a lot like that, and I don't see Baldur's Gate through quite the rose coloured glasses many here do.
Pillars of Eternity was supposed to be the spiritual successor of Baldur's Gate, but in many ways it is not. It is set in the Renaissance period, not in a true medieval setting. The morality in the game is very grey (which make it like so many other Obsidian games). Most factions have good people or intentions as well as bad. Most conflicts are not between good and bad, but different viewpoints. The game has many mature themes. And of course its not D&D mechanics, even if some elements are similar. The companions for the most part are also very complex and are meant to tie you to part of the lore of the world, or to a particular faction.
Kingmaker is set in a fantastic medieval setting. It has the lighter tone of Baldur's Gate. There are great heroes and dastardly villains. There are good factions and bad ones. I've run into very few "mature" themes so far. The companions are more like comic book characters than conflicted, multifaceted individuals. And it has D&D mechanics. Really it has a story that could have been implemented in a Bioware (of old) D&D game or a Gold Box game. So if you like that kind of thing, it is a very good game. I'm only in 15 hours so far, and from what I can tell its also a huge game.