Follow up question, are those 2 ever going to be good at combat? I want to play again but the grind is so much when you are the only one who can fight.
Depends on what you mean by "good at combat." IMO dealing/tanking massive damage isn't the only measure of combat effectiveness.
Doggo was never intended to be a wardog and never will be, but I've lost track of how many times it did the last few HP to put down an opponent rather than going into another combat round. When it was introduced dying was permanent for it, now it revives after the fight if it gets killed. And taking a hit that otherwise would have gone to the MC can save a fight from being Game Over.
The Familiar is also not intended as a front-line fighter. It's a useful healing resource, just choose "guard" for it during fights. Once it evolves into the Imp it's still good for healing but can also acquire powerful spells (or spell-like abilities) after some leveling up.
Did you equip Doggo with the harness & collar or the Imp with regular gear (armor, helmet, weapon, etc.), to improve their survivability?