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I agree on Luigi, he's cool. One of the few sidekicks that can stand on their own. I also agree on Samwise Gamgee, without him... poor Frodo (and by extent, poor the world).

Besides those, I'd like to add;

Bastila Shan from Knights of the Old Republic

Not only does she have an integral part in the game's story and is probably the character with most depth and is most the 'mouldable', she is also the most useful party-member, able to get you, the player out of a tight spot in more than one occasion in the early game.

Midna from The Legend of Zelda: Twilight Princess

Stuck to the player unwillingly, she grows fond of him towards the end. While gameplay-wise she has little-use, I think her backstory in the game, which is revealed slowly but surely throughout the game in some of gaming's most epic cutscenes ever, makes Midna a very intruiging sidekick.