The companions are not just there to maybe follow the PC into battles, they are part of the inner circle of the Inquisition. They are part of the leadership. Iron Bull, GreyWarden Dude and Cassandra all look to have more military/war experience than Cullen.
They obviously can't handle military affairs if they're riding around with the Inquisition, though. If communications, logistics and command are all handled at a central location, it would hardly work to plan things in the middle of a camp with the Inquisitor.
The point of dedicated advisors is to have someone who stays at Skyhold 24/7 and can coordinate the Inquisition's operations full-time.
The companions can't do that, and neither can the Inquisitor- which is why we have delegated that to the advisors (or whatever they are) in the first place.





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