Yes it is completely stupid that we have 2 companions whose customizations we can't access without an authenticator while some like the Sith Warriors get all their companions before us and can access their skins by Belsavis at the latest.
The empty vendor on Ilum (planet, not the orbital station) suggests that we are supposed to be able to buy them there. I have a feeling we will be able to once they stop cashing in on the authenticators. Why put an empty vendor there otherwise?
QFT. Really grinds my gears that they do this.