Not companions but the NPCs who follow you for a given quest, ie: Captain Jimilia in the Missing Prowler.
Not all fight, I know, but I've noticed lately, and most recently with Jimila and Squire Rayan, that some will draw their weapons and just stand there doing nothing.
Note, I'm not looking for their 'help' but I do think it's rather silly to have them there, with weapons out, just doing nothing.
PS5/NA/Performance Mode