So sorry, can't help. But I love everything about this problem :D
Baldur's Gate 3
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Baldur’s Gate 3 is a story-rich, party-based RPG set in the universe of Dungeons & Dragons, where your choices shape a tale of fellowship and betrayal, survival and sacrifice, and the lure of absolute power. (Website)
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Unfortunately, I don't think you can. You can’t remove custom characters from your party, and you can't manage companions' inventory unless they are in the party.
It makes me feel kind of skeezy to be honest, we fully intended to give them at least some Destitute Clothes after the Nautaloid, not to have stripped away their dignity forever, lol.
You could try this mod. It allows you to add more characters to your party.
I haven't played mutiplayer, but if you had only 3 people in your group, what happens if you talk to one of the NPC and ask them to join you? Do they say you are full?
If only 3 people have joined the game then no, but with 4 people it says we're full even if one of us logs out.
When someone is offline they don't leave the party but you can control their character.