Other than being the resident jobber who does help in only two types of encounters (by throwing herself into the enemy tonget fucked), and teaching you two useful spells (waaaaaaaaaaay too late in the game to matter currently), you are correct. Trudy needs to have at least one win, because I did cheat in getting Hiro to have 1 in each stat, and still won to Trudy (with minimal care in actions chosen). I do think that the allies should have some more proactivity in combat, while also getting combat cut-ins in some corner of the battle screen to show when they do something, not just in the hover tooltip of the action tracker on the top right.
Also, yes. Urka, too, should have more going for her. Urka is kinda odd for combat rolls, while Alma only meddles in encounters when the "home" portal is up. Kiriya's in a similar position to Trudy, as well. Heck, Kiriya does less than Trudy, aside from the eleventh hour heal cast.. hmm...