I can't see this working too well. Dark Souls isn't really a game where I feel like I benefit from having allies around (except for the boss fights, and this is already available). Sure, being able to have customizable companions would add strategy, but not a kind of strategy that can pleasantly co-exist with the current difficulties of the game.
In most situations you aren't fighting more than one, two, or three enemies at once. The game is designed for you to carefully pull a few enemies at a time and dismantle a room or pathway piece by piece. If you suddenly start having companion(s) following you around, either you easily outnumber that one enemy you pulled removing any difficulty or they have to consider removing the ability to fight enemies one at a time which changes the core game overall.
You're basically battling to find an opening in your opponents attack animation. That's when you strike as much as possible to deal as much damage as possible and then revert back into defending as soon as that window closes. With multiple people, that window is always open for someone. That is a problem. No longer do you have to be patient and pick your shots, but instead whenever the AI isn't focused on you, you go batshit crazy til its dead. Now of course with the companion being optional, how do they account for both styles? If the person with the AI is going to have any kind of challenge they need to change the AI and overall encounters. Which once again affects the experience of the solo player.
Lastly, I don't really feel like Dark Souls is a game that should have friendly/wacky banter. It's a depressing yet beautiful journey. Everyone's living on the verge of death (or undeath) and I feel like that atmosphere would be ruined by the two musketeers chatting their way through the area.
If you want partners I'd say you might as well just stick with summoning humans and boss battle npcs. It'd be basically the same experience aside from scripted conversations and events.
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