I think this is the crux of the issue, or even a lot of the issues. Rook feels a thousand miles away from the companions, but they don’t address it the way Varric did with the Wicked Grace game in Inquisition. We’re just meant to listen to all these conversations and pretend Rook is somehow included in the banter by proxy, so they’re all great friends. But they aren’t, not with Rook. Rook can’t do anything with a companion unless they’re summoned with an exclamation point, and even then you’re just as likely getting a scene where you just arrange a better friendship or romance between two companions, not developing Rook’s connection with them.
It’s sad, really sad. I just don’t think it’s intended to be sad, because the game keeps pretending there’s something there for Rook to cling to to prove they matter to these people.