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It's a feature that actually brings you closer to your Pokemon, rather than just being your minions in battle. It's so much more fun seeing your companion walking around with you, and being able to talk to it, than just looking at it in a menu.
It's a feature that should become a proper staple in the series.
Bring walking Pokemon back, make it optional, and everyone will be happy.
"If beauty is in the eye of the beholder, I'm convinced that these two are blind."- Phoenix Wright, AA:T&T.