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Anyone in Skyrim. Having an extra party member could help in a fight, provided you're playing the game that way. But considering how unlikely they are to survive for long, they're not worth trying to pick up.

Kimahri from Final Fantasy X. Not only do they lack a defined role, but their Blue Magic ability is garbage. What should be a vast system of magic and abilities is limited to 12 specific abilities to find across the game that can only be used once per Overdrive meter.

Half the guest characters from Final Fantasy II. The first two are fine, everyone after that is an underpowered drag on the party.

And if we're counting Tactical RPG's, Peri from Fire Emblem Fates. Not because of the usual mechanical reasons. She is just THAT antithetical to everything the game's story is trying to accomplish.