That reminds me of a gripe.
Why is it the AI has cover options and we don't? They can duck behind walls and objects end then either pop out and shoot or simply hose the area down with blind fire. Meanwhile, the best we can do is crouch behind something and then waddle out. Speaking of being crouched. When will Bethesda learn that when you are in crouched position, you can go under things that you couldn't while standing.
Okay, back on topic. I never thought of putting any of my companions it power armor.