Yes, I have. Replayed a few times, in fact, and played all the DLC.
I'm not sure you have, though, if you say that companion quests weren't the main point of ME2. They were pretty much what the game consisted of. They were optional in the sense of, you didn't have to do them for every NPC follower to beat the game, but if you wanted your team to survive semi-intact then you needed to do them and in somewhat of a linear order. Also in order to get that level of presentation, there has to be a lot more cutscenes than Bethesda likes to put in. Quest design is about more than writing. Bethesda writers design a game with maximum flexibility and for a first-person rather than third-person experience. The more control they take away from the player, the less freedom you have to shape your own game the way you want it. Companions are minimal because they're not the focus, rather the PC's story arc.
I didn't say they weren't a significant part of the game. I said their storylines weren't not connected to the main story. They were completely seperate stories. The ONLY effect doing them had on the game was survival of companions at the end of the game. That's it and that's an extremely tiny connection, irrelevent to what we're talking about here.
You certainly didn't have to do them in a linear order. Unless you mean that you couldn't do two of them at the exact same time in the same sense you can't explore two dungeons in Skyrim at the same time (e.g. you can only be in one place at a time).
Bethesda actually put a fair number of cutscenes in Skyrim if you count as a "cutscene" anything that stops the action so you can make story-based decisions. Being able to make more story-based decisions in the main quest lines of Skyrim wouldn't rob you of freedom, it would give you MORE freedom. As it is, they basically give you no freedom whatsoever. I mean, are you seriously saying the the main quest line and the Civil War quest line in Skyrim give you more freedom throughout those quests than companion quests in ME2? Because that's just ridiculous.
I think they could have had a little more depth to the followers, but I would pick FNV as the model and not a Bioware game.
Wooosh, talk about narrow thinking. I'm not talking about having companion quests in Skyrim. I'm talking about the fact the companion quests in ME2 are better than the two main questlines in Skyrim. This is an anology. I pointed out the indepdence of those quests because in a similar way, the main quests of Skyrim are independent from everything else you do. So there's no reason the main quest lines of Skyrim (the Civil War and fighting Alduin) couldn't have a similar level of quality, giving you more choices and more freedom about what happens and how it happens.
If you prefer, I could point to similar things in Baldur's Gate 1/2 and the like. They certainly had less "cutscenes" and still provided a lot more narative power to the player.
Seriously, if there's one thing Skyrim fails at, it is providing power to the player to make decisions that affect the story. There's very little of that compared to the vast majority of modern RPGs or even western RPGs that are 10 or more years old.