Those games were designed from the start to have NPCs accompanying the main character. Multiplayer fit into the “module” style design of the chapters (or individual adventures if your playing through something a DM created for you and your friends). KCD isn’t designed around that six member party approach. It’s just going to be Henry and his dog. Occasionally a NPC will join Henry but only for specific quests and that NPC isn’t designed to be controlled by the player.
Comparing KCD to BG & NWN (which are great games in their own right) is comparing apples to freight trains.
If I were you I’d be pushing for an optional multiplayer mode for the tournament mode. There the implementation might be easier as it won’t alter the dynamic of the game’s story.