CRPG Kingmaker: Valerie has my heart and Nok-Nok has my love. Lantern is my favorite non-companion NPC, his voice his damn sexy and he has incredible presence.
CRPG WotR: Nenio is my favorite friend and Camellia is my favorite companion. I really enjoy Ember's companion story because forgiveness and redemption make my heart weep. Hand of the Inheritor is my favorite non-companion NPC, always want more of him.
AP Age of Ashes: My favorite NPCs have been; Voz Lirayne, Renali, and Kyrion.
Thank you for the question! :)