You can have one henchman at a time in the original campaign. They all have a quest in three of the chapters for you to complete. They stay with you until you tell them to leave. They do level up when you do, but you've no control over how they do it.
In addition to henchmen, you can control one familiar (which you can possess, and thereby control as well as your main character, even if you cannot determine exactly how they level up), one animal companion, and one summon at the same time for a party of five in total.
You can set some things on henchmen, like whether they use melee or ranged weapons, stay close or linger a bit behind, and so on, but nothing fancy.
In general you'll be telling them to Attack or Hold and that's about it. They do not have inventories for you to manage.
Also, all of the above reduce the xp gained by you.
With the expansions, you gradually gain more control over henchmen (tell them which class to level in, tell them to cast a certain spell, manage their inventory, and so on), but you still cannot tell them exactly what to do.
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