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
Can be recruited at Drezen prison if you unlock Azata path and complete Desna Shrine in Lost Bastion. Otherwise join you in Greengates, at the end of the quest Demon's Heresy. Main plot NPC, can not be killed.
Random encounter after you travel to market square then return to Defender's Heart.
(Azata mythic path, Joins automatically; will leave if any other path is taken later)
2-Handed Combatant / Armored Hulk / Hellknight / Fallen Paladin
(Complete Sosiel quest, and choose to take him home)