The Kirkwall gang really came across as family unit by the end of the game. Sure, it was often a dysfunctional family with a metric ton of sibling rivalry between some of the members, but it was great to see them grow closer and become genuine friends over the years. You really got the sense that the DA2 gang hung out with each other because they were friends, not because they were forced together as part of any "save the world" mission like in Origins and Inquisition and aside from interacting when they were following the Warden and Inquisitor, mostly kept to themselves.
I suppose part of that might be because of the seven year timescale of DA2, compared to the threat of the Blight and Corypheus, which seems to take place over the course of several months at least, which allowed for the gang in Kirkwall to forge those kinds of connections, whereas most of our group are still relative strangers with each other.
Of course, I think that might be a inherent limitation of the series as we jump to a new protagonist and companions each time. Look at the companions in Mass Effect for comparison, who didn't really seem to get on that much in the first game, but only really became a true family after two or three games, because like DA2, they'd had a few years to forge those connections.
As for the companions personally;
Vivienne for instance was an ice queen to everyone, much like Morrigan, but at least with Morrigan we got scenes that showed why she is that way and see her become a nicer person as a result of the Warden's friendship (or romance). Vivienne however gets one sad scene in her personal quest, before going back to treating people like dirt. When she gave my Inquisitor that ring as a token of friendship, I was amused that even one of the dialogue options was "So what do you want in exchange?", because given that she was also talking about the Divine candidates at this point in the game, it seemed like she was just trying to butter me up for a nomination?
Varric meanwhile had some problems here, because while I love his character, Sera was completely on the ball when she commented that he wants to get back to Kirkwall and his "cooler friends". While he's friendly to everyone, he never really seems to completely commit to this new group he's found himself in and it's somewhat telling that is personal space in Skyhold is located right next to the door.
The only person we really see him take time to get to know is Cole, who he takes under his wing, most likely because as we saw in DA2, Varric has a soft spot for people who are outcasts. It might also be because Cole reminds him somewhat of Merrill, in that both are sweet, well-meaning and slightly scatty people, who are wrapped up in something dangerous.
Personally, I wish that Hawke had been around for longer, because s/he being there was the only time (save for when Bianca showed up) that Varric really seemed to perk up and act more like his old self?
I think the companions that most seemed to get with the group dynamic were Iron Bull (who was friendly to pretty much everyone in the group), Solas (who aside from Sera, no-one has a bad word to say against), Cassandra (who tries to get along with everyone for the sake of the Inquisition) and Blackwall (who despite being a gruff loner, seems to get on well with everyone). Sera and Dorian also qualify to a lesser extent, but her pranks and his ego sometimes rub some in the party up the wrong way, even if they normally like both of them.
I think the real problem is we needed more scenes of the group having some downtime. It's surprsingly thinking back to DA2 how many conversations and scenes took place at the Hanged Man, which really gave the entire place an awesome Cheers vibe as everyone's favourite local, complete with a bunch of colourful bar patrons. Varric even bemoans that they're going to have to rebuild the pub during "The Last Straw" before and Snarky Hawke's rallying speech ends with their quipping about buying the round afterwards. I was expecting something like that from the Haven and Skyhold, but it never really seemed to get that vibe, a shame because taverns are a staple of the fantasy genre.