Well, the HK droid uses cunning, and he's... DPS... nevermind.
Seems like there was another companion that can use cunning or aim.
I suppose if you're pushing the cap, you could switch to add endurance when more cunning would be of marginal benefit.
The simple fact of the matter is that most of the raiders like REing because of how poorly gear is itemized. If they itemize everything to be BiS without swapping mods I'm all for making it impossible to learn, but ONLY if they do that.