I will say that I think FO4 proves that Bethesda can do characters just as well as Bioware can. Piper, Curie, Cait, McCready, Valentine, Hancock, and Deacon are all on a level to me with any of my favorite Bioware party members from either DA or ME, and that's with less dialogue. There were some weaker ones; Strong was rather boring, Preston was too much of a nice guy. Didn't get to interact much with Danse due to a glitch having him disappear on me. But Bioware's had plenty of companions I didn't care for, as well. I found Maxson and Father to be on a level with most Bioware antagonist in terms of how compelling I found them.
While i can agree F4 has the best companions and characters since Morrowind; none of them even close to what Bioware provides. Especialy true for DA:I, almost every character even a shameless fan service like Iron Bull could be a character in a novel and no one would bat an eye. My favorite Blackwall for example is brilliantly written and even his physical appearance fits perfectly. Whoever wrote Blackwall he/she almost certainly read Dostoevsky, his despicable yet miserable personality might be best i have seen in a video game. (Hell even that story with stray dog close an anecdote in one of Dostoevsky's books.)
Bioware writes characters with hidden motives that make sense, their behavior fits with their psychological background. One can guess their pass traumas just by watching how they react during cut-scenes.
Though Bioware did things like Miranda (Bond Girl) or Fenris (anime runaway), i must accept that even such are much better than anything Bethesda ever written (exclude Vivec and Sotha Sil).
F4 companions are bunch of one dimensional side kicks whose only purpose of existence is to support specific role plays; good police, cannibalistic raider, scientist, Director of Institute, ideal paladin etc.