You can't just "drop" them in the game, but most have at least one opportunity at some point for you to have them leave the party through normal game play. These only occur at specific points in the game and can't be undone.Anyway to get rid of companions you don't want? Like a fool I tried to play this blind and ended up in shit creek.
The other option it to use a save editor to remove them if you really want to.
These are the companions that you have an opportunity to make them leave:
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