That sound interesting. How are the companions better there than in part 5?
The companions in P4G are less one-dimensional / more complex, better written, more 'human' and - arguably - one of the best, if not THE best, NPC team in gaming in my opinion - mostly because the natural chemistry within the group. Hard to explain more without actually playing the game. For me, the companions in P5 were actually a big disappointment, coming from P4G. The only two that didn't suck IMO were Makoto and Yosuke. Also, you will be able to join those heated 'best waifu' discussions about P4G - consensus is not easy at all.
P4G companions aren't that complex but they are funnier and as you said more human.
P5 are about.....business. They do their task for Joker and seems little concerned about themselves, you don't even seem interact each other except few scenes if Joker isn't present while It happened often in P4. They even seems to despise each other...at least It Is the attitude of Morgana toward Ryuji....It Is not like Yosuke joking with Kanji but being his friend.
Confidants are good. In P4G non party social link (except your awesome family) didn't fit much with the story while in P5 they are adults and they support you.
The trouble Is that P5 teenager party behave in a similar way of non playable confidants.
With Makoto they did a mess.
She Is the priestess arcana. Her nickname Is QUEEN. She Is bossy and a nagger (she tell you to study more than the professors!)..... isn't she supposed to resemble a little Yukiko? Empress Haru is.....the girl that grow healing plants and can't decide nothing. Makoto also Is your strategist.....but you need Hifumi for that because she Is the champion of shogi and also a cut Phantom Thief.
Despite those flaws Makoto works well because being sister of Sae you see her talking with other characters without Joker presence. She also talks with the headmaster. It doesn't happen with the others except Akechi (that you are supposed to hate and work very well)....they just tell you "I have spokem with X that told me" during their social link.