The Outer Worlds has always struck me as something of an underrated game. I certainly liked it enough to play through it three times; once just the base game and two more times with the DLCs. I do agree that one of the highlights of the game are the companions. They were all unique and it was fun to pair up different companions and listen to their banter. Well, except for the robot who had fairly a limited set of lines.
I will say the DLCs added a lot to the game. I recall being mildly disappointed in how brief the base game was but after adding the DLCs it felt a lot more fleshed out. Not quite like a Fallout game, but enough to satiate.