This is something i was going to suggest, the current Interface for accessing companions skill's and inventory is very cumbersome and time consuming.
I'm certain this has been suggested before and only god knows why it has not already been implimented, the number of times you have to access each companions skills through out the game is alot, even when buying weapons for them, you have to go back to their skills page and see if they can actually use it.
So a more streamline UI is a very sensible and practical idea to say the least.