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I discovered the answer! You can do it by using your tent to rest, and clicking on their silhouette! 

Hello! I'm curious about how to open up a companion slot? I have the dog and bat characters (unnamed for spoilers) and am starting a new quest where I need an open slot. 

I think you have to subscribe to a monthly payment to HentaiKey.

I'd pay extra for the full content, hell I shelled out ten bucks for the game. Seems that right now you have to pay a monthly fee to get the characters and outfits.

Most of the characters and every alternative outfit seemed to be locked behind a monthly payment gate. 0/5 stars =(