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The game says that the Companion "idolizes you". The game says that the Companion "admires you". The game says that the Companion "tolerates you". The game says that the Companion "hates you". If the player isn't sure where they sit on the Companion's affinity scale, they can work towards earning affinity and wait for the game to let them know when they've hit a major milestone. The maximum possible affinity is 1000 points, and the lowest possible is -1000 points. Usually, companions will begin with an affinity level of zero. However, there are a few tools that can be used to keep track too.
Unfortunately, a companion's affinity level is hidden from the player and can only be seen through console commands.