I finally got around to implementing allies. They mostly stay near you and use their abilities or fight nearby enemies. They will sometimes follow you down stairs or if you fall to a lower level. I had to implement 3D AStar pathfinding for that. First time I’ve done 3D pathfinding and I think it went smoothly.
From here on out it’s mostly just improving the ai. Make them stay near you but still give you space to move, make them work together better, make them say things about their history or strategies, give them some personality.