The last time I used a companion without being forced into it was way back in the days of Morrowind. Ariella from the Children of the Night mod. If you ever track this mod down you'll realise that she was a bit special and big trouble at times

On my 1st char in NV I knew about ED-E but didn't have the skills to repair him at the time. I turned left instead of right so missed Cass. I'd heard of Boon and skipped him as was my want. A little later I was chatting to what I thought was a random NPC when they suddenly ask to join me in my travels, Roni of course - she likes that name, says it makes her sound a little butch

Well, I liked the sound of her voice, thought it sounded like someone I knew, so off we went. Great fun was had and with ED-E's help we saved the world, or close to it, many a fine adventure at least.
2nd char met up with Cass, and liked her attitude. While Roni was a bit of a tom-boy deep down she was a girlie girl, even when dressed in a tin can. Cass is full on attitude and truly her fathers daughter but her sadness gives her a vulnerable streak. There are times though when I do wish she'd shut up about whiskey, still, she doesn't complain about wearing raiders outfits so I guess we're even.
2nd char also met up with ED-E, heh, what can I say this little beeping ball of random death ?

Actually I'm quite proud of ED-E at the moment, earlier this evening he sneaked off behind a shack, pew-pew and here we go again I thought. I rounded the shack to find little ED-E had soloed his very first deathclaw, I had to double take, lol. Ok, it was only a young DC but ED-E is yet to be upgraded and I still don't know how he managed to make the kill.
So, to answer the OP, no, I don't use companions but the ones in NV are quite fun to have around so I'm making an exception in this case.