During the quest where you visit villages to inquire whereabouts of the kidnapped daughter, you and your party companions spawn with the battlefield outfit (I guess this is intended). However, the companion that always spawns right next to you when you enter a town or a village still spawns in a civil outfit which is a mismatch.
EDIT: When you walk in villages, you and your party companions spawn with the battlefield outfit. However, the companion that always spawns right next to you when you enter a town or a village still spawns in a civil outfit which is a mismatch.