This mod slightly improves Companions Panel and gives you remote access to your bench sitters' inventories as well as camp's chest:

Gives access to the widget from anywhere (not only when you are in Camp).
Adjusts panel's position, widget renders closer to Character Panel.
Adjusts grid to avoid last items row cutting.
Increases grid for both camp chest and bench sitters individual panels: traveler chest 14x13 -> 16x14, individual inventory 7x11 -> 9x13.

Due to companions in camp and place from where you are calling Companion Panel are different regions, companions textures not always loading properly. Because of that I had to remove companions paperdolls from the widget and replaced them with round portraits.

Installation:
Its suggested (but not required), that you install Dynamic Sidebar (any version) first, without it you won't see Companions Panel button on the sidebar.
Manually drop pak file from archive to Mods folder (Appdata\Local\Larian Studios\Baldur's Gate 3\Mods) and enable it in in-game mod manager. Or use BG3MM/Vortex.

Uninstallation:
Disable/uninstall mod in in-game mod manager or in BG3MM/Vortex. Don't delete pak manually in Mods folder.
When uninstalling version installed via in-game mod manager from mod.io, unsubscribe on mod.io, otherwise in-game mod manager will try to install it on background again.

Compatibility:
KB/M only, pads UI wasn't changed (it doesn't have this widget at all). Made to look great on 16:9 and UW ARs, there will be slight overlapping with Character Panel on 16:10 screens.
Should be compatible with any other mod that doesn't edit the same widget.

Companions Panel and Camp Chest Everywhere