I can confirm this is a work around. However Even this seems very buggy. It will improperly report who is actually assigned a role and seems to think that 1 person has all the roles if you try to assign multiple roles to other people during the same session. this seems to just be a UI error however as going back to world map and hitting the clan tab shows the correctly assigned people.
But the long and short of it is that if a companion is assigned a certain role and then either dies, kicked out, or forms a party that role isn't there to reassign because the person is no longer available to "unassign"