Hai ,
I already finished the game once and did everything on all the maps , but I don't really want to play through all the sidequests again , so I wonder if I will be able to get all the companions quests and other things such as all the war table missions or the judge quests if I just play the main storyline.
If you have enough power, then you should be able to, but you will need to complete some side content.
You will also be quite under-levelled so would need to take the difficulty down I imagine...
Be happy this is not Ubisoft, they would charge you time-saver DLC to pay your way past collectibles and side quests 
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