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I also prefer options like Baldur's Gate, despite the limitations. Precisely for the reason already mentioned above – the characters are pre-defined and connected to each other, so you don't have to invent why they are even here. Well, unless the maps turn out to be strange – but that's a problem even in more open expansions. In games about mercenaries, I often have questions about why a particular character decided to engage in such activities, and also why the player characters are still together, apart from the fact that they are player characters. You still have to discuss and agree on something in advance, but it turns out to be a more awkward and questionable version of what we already have in options like Baldur's Gate.