No, not yet, but it AFAIK it's something Tinkerer is considering (or at least has considered).Is there ever a point where we can freely choose a companion to take with us? I just got done with unlocking the teleporters with my demon daughter, and it's so much quicker and less annoying to have a follower along. So far they all leave after the specific quests are done though and I can't ask them to go with me.
(PS I interpreted this question as in being able to choose between companions beyond our lovable imp)