I know, I got that complaint from Sade too at testing. Problem is : the companions are same height as the corresponding base (female companion same as female character, male as male) only exceptions are the 2 demon companions and the sci-fi afro elf with the gun.
That means, they are good when side by side, but look higher when behind – perspective.
I suggest a new feature : scale dial for companion and items. To let them be resized depending on distance (or if you want Clark look taller than Lois)