Zardnaar
Legend
I think I would be fine with it. Giving the DM a chance to try what they are thinking makes sense to me.
If it were actually the BG3 companions, that sounds fun.
And thanks for making this a non 5e exclusive post.
BG4 was main example I coukd think of. Wasn't exclusive to it as you coukd easily decide to parachute in at level 10 in say Savage Tide AP.