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No question here, RFS is the only NPC I ever take (aside from people who need to be rescued). The others all have too many important places they refuse to enter. You can force them in, but they're mainly just dead weight (being hexed the whole time you're there), and eat up experience for doing not a lot.
RFS comes with decent stats and reasonable skills, though no magic (he's basically a non-psionic monk), and his ranged combat will need work. His only forbidden area is the Rapax Away camp, and you'll probably want that extra slot for something anyway.
Vi is not necessary to the party, even the endgame. I did take her there once, and it was interesting. However, I've finished without her and there is really no difference.
If you want the most experience for your characters, go with only your originals. If you want a reliable NPC, take RFS.
Nightowl2
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