In some other games they were able to give your "pets" talent trees. It would be awesome if you could do the same with your companions. For instance you could have a DPS tree and Healing Tree for Elara or for Kira you could have DPS or Tank since she is kinda a shadow. Also would be great if in Legacy we could play with our mains as companions. Just use the bolster system to bring their stats in line with ours. Basically a reverse bolster.