Companions in Pathfinder: Wrath of the Righteous assist the player by joining his/her party and have their own backstories and unique characteristics/Quests. They all have their own Races/Classes and equipment they begin with. While being in your party companions will react to words you say to them or other NPCs and decisions you make during the crusade.
You may also recruit customized adventurers from Hilor (he can be found at war camp), for a price. Customized adventurers don't have their own quests. For Lich characters, they can have some unique undead companions.
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Pathfinder: Wrath of the Righteous All Companions
The following companions can be recruited by any character.
Can be recruited early from the Drezen prisons if Starward Gaze is completed favorably for the Desnan adepts and the shrine of Desna is completed in the Lost Chapel. Otherwise she can be recruited in Greengates, at the end of the quest Demon's Heresy.
Joins you automatically in the Crusader's Camp after you become the commander of crusaders.
Can be recruited from a random encounter that occurs after visiting Market Square for the first time.
The following companions can only be recruited while on the Azata mythic path.
The following companions can only be recruited while on the Lich mythic path.
Can be reanimated in the aftermath of an attack against your undead ziggurat that you can provoke in Act 3.
The following companions have strict recruitment requirements and can be easily missed.
2-Handed Combatant / Armored Hulk / Hellknight / Fallen Paladin
Through the Ashes (DLC) Companions
The following companions are recruited in the Through the Ashes DLC adventure.
The Lord of Nothing (DLC) Companions
The following companions are recruited in the The Lord of Nothing DLC adventure.
Recruited at Frozen Fane. (Break the first ice wall)