How extreme are the consequences for not bringing companions with you on their specific quests?

I've been rolling with the same party all game and I'm really happy with it. I figured on my next playthrough, I'd just pick a different party composition and really get to know those characters on that playthrough, which would keep things fresh for me.

I don't mind missing out on random lore or conversation bits (that's the kind of stuff I'm trying to save for future playthroughs,) but it would bum me out a little if one of my camp buddies got mad and just left in a "bad ending" sort of way (I'd be more ok with a bittersweet "friends going separate ways" type scene, though, if it makes sense for the story.) I want to help everyone, but it just feels so video-gamey to add someone to the party, level them up, give them decent equipment, complete a quest, and then kick them out again just to get a better cutscene or something when that's not how I've been playing for the past 40 hours.

Specifically, I am about to enter the part of the Act 1 map relevant to Lae'zel and she hasn't been in my active party since I met Karlach.

So what do you think? Should I stick to my preferred play style and see what happens? Or change it up because I'm a chronic "good guy" gamer who wants to help everyone and get the "goodest" ending?