I know this may sound a little odd but is it possible for non-lethal/fighting type grappling to ever become a thing, or even a planned feature?
It sounds strange the way I'm putting it so let me give you some examples.
I've felt like a jerk for a while because my companion got his foot cut off by a gobbo a while back, and he has no family or anyone to leave with, so I just let him crawl and follow me around. I want to be able to throw his arm over me and help him walk, or drag him away from dangerious situations.
That also brings up a few other things, like when a companion decides to take a dip in the river I jumped across, I really wish I could grab their arm and pull them out before they drown, or grab them as they jump for the less athletic ones.
Or even pick up a person and carry them, or just grab someone by the arm, like maybe someone put a bounty on you, or the guards need you to leave, maybe they can drag you out by the upper arm or even throat.
And lastly, but not least. Hugs. With the emotion system in right now people tend to cry alot, what they need are hugs. lots of hugs really bad.
Especially when I bring a chunk of my dead companion to their family to prove their death, as to say your sorry but they died fighting beside you.
I guess you could also add hand holding (for married couples only!
)