Well, here, I'd actually ask for your opinions. Turned out a lot of folks hate that you can't feed your men at the bonfire. If you could, would you let them eat with you and gain HP as you do? That always seemed too easy to be in the game, but nowadays, I don't even know
Would be a nice feature, but definitely make it so that each companion needs food items individually.
Dunno if I am alone in thinking this, but the option to control each characters items, food, and also actions in combat individually would be kind of awesome. At this point it's probably more wasteland than Fallout, but eh. As a penalty you would have to keep hunger, radiation and all other negative effects in mind for each. Would probably need some reevaluating of how often you find anti-poision/rad pills aswell as UI redesigns.
The reason I'm saying this is because I found companions to be the messiest part of the game. Both in combat (pathfinding, friendly fire) and outside (again, pathfinding, inventory management through the dialouge system, healing). Their behaviour has lead me to frequently reload saves. It would obviously be a lot of work, but has the idea ever been considered?