What I mean by consequences are things like them no longer being loyal or having major debuffs that permanently mess the balance. If there are ways to get rid of said debuffs and regaining their trust again, then that's fine by me too.
There was a story event in Sakura Dungeon when one had to "sacrifice" one of the party member to a dragon girl (mini-boss), and then get her back by-mail (or something like that). Heroine Rescue Team has this kind of content more gamified - your companions can get tied up and carried away to bondage devices to be rescued by the player character or other followers.
Not strictly companions, but in the game I'm making the main idea is that a character goes into the dungeon, eventually gets captured and the next character goes for the rescue, rinse and repeat
Not strictly companions, but in the game I'm making the main idea is that a character goes into the dungeon, eventually gets captured and the next character goes for the rescue, rinse and repeat