Just an idea for next year's story and main expansion, how about an option to control your companion's combat tactics; the two major points of interests are dodge roll and aggression.
Dodge Roll
Default - based on the weapon they have equipped.
100% health - anytime the target comes into melee range.
75% health
50% health - behaves like two-handed or dual-wield.
25% health - behaves like 1h + shield or frost staff.
Never - under no circumstance will they ever attempt to dodge roll even when about to die.
Tactics
Default - default behavior.
Aggressive - only attacks when you attack with an offensive ability or weapon. Will not retaliate when you are attacked.
Cautious - only attacks when you heavy attack. Will not attack on ability or light attacks, will not retaliate when you are attacked.