We don't have that in Dragon Age Inquisition. None of my inquisition soldiers ever lend me a hand while I was fighting bears or any other enemies. They were a few feet away from me too, and armed with swords.
Edited: In Exalted plains I remember a pack of wolves manage to enter one of the bunkers that I've liberated from demons, and the wolves didn't even attack NPCs nor did they run away from the wolves.
Hm I don't remember friendly npcs, but I do remember that in more than one ocasion the wolves or bears did attacked the enemy mobs (bandits, red templars).
There was a funny one in the emerald graves: I was after the smuggler letters for Cullen, and headed to the last camp. I noticed a giant fighting a great bear, near the camp. They got close so the templars attacked. In the middle of the fight, another giant walked around, picked up a big rock and facehitted one of the templars, and joined the brawl. I watched as the two giants killed everyone and then went back to their patrol route. I sneaked in the empty camp, grab the letters and walked away 
So some way there is interaction between npcs. Maybe just the friendly ones not liking the boss 