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RFS was the only NPC I ever really bothered with. If you take the time to train him up well, he becomes a great fighter. And yes, he will go with you to all locations except the away camp, for a plot-specific reason. Even then, you can take him back again later.
As for the others, some I had only because the quest required them (e.g. rescuing Vi, whom I later parked at Heli's), and dumped them as soon as possible. A few I tried out and found less than thrilling. The "I won't go there" routine becomes old very quickly, and all the NPC's (except RFS) have multiple areas they refuse to enter.
In the final few games I played, I did not have any "permanent" NPC's at all.
Others here will give you different opinions. So just do what seems best for your party.
Nightowl2
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