Half the damn quests don't even require me to leave the city they started in. Maybe you just had bad luck picking all of the quests that are like that and none of the others and I had the opposite. Or maybe you did 3 quests and are talking out of your ass. I don't know, I wasn't there when you played the game. I mean, did you even do anything other than main story? Join a faction, do sidequests, anything? Because I could point you to half a dozen quests just in early game New Atlantis that are entirely reliant on dialogue, choices etc. without any killing and that do not give you a mandatory companion. Like, do the UC Security quests, investigate the brownouts in the well, talk to the preacher guy, the art guy in Jemison Mercantile, the collector guys in Terrabrew, the bartender at Viewport, the scientist by the tree. The game will literally put half of these quests in the quest log from ambient dialogue, and the other half you get from just engaging with the world and talking to NPCs in the first city you visit. It's not like these are incredibly hidden quests you have to go out of your way to find. Hell, when you go to Akila the game just plops a hostage negotiation right in your face. I mean, come on, you're either being wilfully disingenuous or you played that game blind as a bat.
And if you don't believe me and don't want to bother playing the game yourself again, just look at the playthrough of somebody like Many A True Nerd. He did a lot of the quests I just mentioned.