I grabbed Sohei's groupings (it's easier than staring at the companions image from the wiki) and combined it with the companion skills listed on the wiki

Sohei - Groups of companions that get along with each other wihtout conflicts. You can choose one of the lettered groups for each numbered section. The fourth section is undivided with no conflicts.

I took skills on the wiki and if they had higher than 3, mentioned it. Some I combined like doctor or scout. Turned power draw into archer, ironflesh into tank, power strike into dps just to help myself choose a better balanced group.

Unfortunately it isn't as detailed like the POP companion info is like if they hate raiding villages (William does) or other things. It is in the game, just I haven't taken the time to find out yet.
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1A
Sessai – engineer, trainer, tactics
Yoshio – archer, tank, dps
Fransisco – cav, doctor, pathfinder
Gonnosuke - tank
Kojiro – dps, tank

1B
Musashi – dps, tank
Hyogonosuke – dps, tank, trainer
Hoshi – tank, doctor, scout
William – engineer, scout
Goemon - scout
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2A
Mari – cav, dps, doctor
Youmu – dps, tank, trainer
Teruyo – archer, tank, doctor

2B
Tojiko – archer, tank, trainer
Nagako – tank, dps, doctor
Meiling – dps, tank, scout
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3A
Isosangemat - dps
Mandukai – tank, dps, scout
Shih - dps

3B
Yeosong – archer, trainer
Enrique – doctor, spotter
George – tank, scout
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4
Momo
Jungeun
Genko
Jukeini
Chufsanma
Bafunkei