I don't even think the companions were good. They didn't have any real motivations apart from the inquisition, nor did they really have any strong reasons to be a part of the inquisition. Dorian was good but I felt his side missions were not that great, and if you didn't choose In Hushed Whispers, you didn't really get to see what makes him tick, except as an info dump when you talked to him in the Skyhold library. Which is like saying 50% of the game gives you no true character development for Dorian. Iron Bull was completely different from any other Qunari we've ever met. It basically spat in the face of the world-building of the previous games. What, give him a bro personality and a bro Freddie Prince Jr voice just 'cause he's big? Although he struggles with the Qun, he is still fresh from the Qun and should act like other Qunari or behave like them - and if you want to slowly develop the Qunari into a more diverse nation, which is a respectable goal, then start out with a familiar position and then through that have him take measured steps into something more unique. Otherwise it's just a jarring and reckless break. Sera was.... uh.... literally none of her cache is revealed or seen to contribute to their efforts, and besides the cache, we fight some dudes in some random area and then one supposed 'noble' is standing there talking about some land squabble we never see. None of that scene really demonstrates what exactly she is doing. It doesn't really come together until Solas speaks about her overall strategy in party banters - that she is upsetting nobility (not to replace, but just to keep them on their toes). She is supposed to be helping the little people, except we never see those little people, or her helping them. And on and on.
While I can understand that some found it jarring, I never thought Iron Bull's personality contradicted the previous lore that much. His personality wasn't based on "'cause he's big" it was based on "he's a spy/deep-cover agent".
Iron Bull is not a Viddathari he can't blend into Andrastian society just by not mentioning the Qun. Even if he took on the role of a mercenary, people would be hesitant on hiring him if he acted like Sten or the Arishok and he needed to be hired - whether it was simply as a cover or as a way of getting closer to juicy information. If he acted like the Qunari we've seen so far, he would never be able to fulfil his role as a spy.
It's notable that his role in the Qun, Hissrad, means "liar". He was fostered into that role like all Qunari, but it's a role that's markedly different from the others. His can'ts and shoulds are different so it's not surprising that he has a more flexible way of presenting himself. When I talked to him, I thought he presented the Qun way better (certainly more eloquently) than Sten or the Arishok had - and I say that as someone who hates the Qun. He made it seem more logical and reasonable without changing the essence of it.
The trouble for Iron Bull is, that as time passed, the act he had adopted -boisterous Tal-Vashot mercenary- became less like an act because of his previous doubts. Had he been at home, or closer to his superior officers in the Qun, he would have probably been sent for "re-education" but he wasn't.
To make it short, Iron Bull is different from previous Qunari because he's Hissrad - and has previous trauma that gives him a bit of an identity crisis.
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On topic:
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What DAI did right:
-Beautiful environments.
-Good music
-Romances and companions. Not all of them were to my liking but there was a good variety. Some parts could have been handled better but all in all it was pretty good.
-The main story was actually not that bad up until a certain point, unfortunately it went downhill after that.
-Trespasser. For me this was easily the best DLC of the game, the music, the environments, the story and companions.... I loved it.
What DAI did wrong:
-To many boring side quests
-To few cutscenes
-The pacing of the main story was a little off because of the size of the game
-Crafting. This is a bit of a 50/50 situation, crafting was pretty good except there were too may superfluous materials and why did certain mage schematics not get magic stat bonuses but instead get stat bonuses for things like dexterity or cunning? Also, there wasn't always a lot of variety in the schematics for certain types.
-The hair. Hair has never been particularly good in Bioware games but it stood out here because the rest of the CC was pretty good even if some choices were a bit limited.
There are more things that the game did right/wrong, but not all of it is relevant. Like the 8 ability limit, it was horrible for mages in DAI but because of hos abilities are in Mass Effect it wouldn't be horrible for Biotics.
I'm probably forgetting a few things, both in the positive and the negative column but oh well.