If you haven't played through ME2, do so now. I'll wait.
Okay, now that you've played through the game, did you notice how the narrative was structured? You spend the first half of the game zipping around the galaxy collecting your rogue's gallery of NPC companions. No big deal, lots of games have done that before.
The important part here is what you spend the second half of the game doing: Earning each NPC's "loyalty" by pursuing their unique, character specific missions. These aren't your typical side quests, either; they're long, in-depth explorations of that NPC's personality, history, and motivations. There are new maps involved, new relationship options, and even some cool new gear to be had. This is very much the "meat" of the game in ME2.
By the time you reach the final mission of the game, you've really gotten to know these NPCs. They're not just faceless extras you drag along for more inventory space or firepower - they're family.
I would love to see Wasteland 2 explore something like this for its important storyline NPCs. It's not enough to just find some dude willing to join your party, toss him an AK-97, and run off to save the world. Sure, there should be some NPCs that are just hired guns (for more on that, check out this thread), but for the plot-related NPCs, I'd love to spend some time getting to know them by following them on their personal missions.