Hmm that's a tough decision.. I can't nail it down to just one.
In no particular order:
1. Morrigan- Dragon age series
2. Leliana- Dragon age series
3. Eder- Pillars of Eternity
4. Aloth- Pillars of Eternity
As far as why: Morrigan is a tough cookie but iit would be interesting having a chat to her over a campfire.
Leliana, well I'd love to hear her sing in person over said campfire, and hear some of her stories as well.
Eder! How could I not want to meet the big guy, he's a big teddy bear and would love to enthuse over different animals with him while drinking a tankard of stout. Then Aloth, well considerate aloth would always make good conversation, and wouldn't mind, ahem, studying a few scrolls with him now and again ;).