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Hotfix #17 Now Live! Version Number: 4.1.1.4494476
(forums.larian.com)
Baldur’s Gate 3 is a story-rich, party-based RPG set in the universe of Dungeons & Dragons, where your choices shape a tale of fellowship and betrayal, survival and sacrifice, and the lure of absolute power. (Website)
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In regards to using items held by companions at camp, I tend to just play it like I actually have them all with me, but due to gameplay mechanics and limits on technology, some people just have to be camped. I don't really want to play a ton of characters at once in a turned-based game, but in real life I would totally have my whole group out and about with me if at all possible.