Oooh I really like this one! Some companions seems like they're into certain acts vs positions, so I took that into account as well.
Arona: Depending on dom/sub mode, I think she likes positions optimal for breeding. Mating press, really deep missionary, things like that.
Atugia: seems like she loves some body worship no matter what you're doing. That bod deserves attention. Can't leave out oral with her being a dullahan and all.
Azzy: cuddle fucking. Imagine she likes getting up close and personal with several options involving her venom.
Agnimitra: I haven't really indulged in her content like that, so mental reminder. I think I made her a futa, and she seems very switchy as long as she gets hers. Jury is out.
Brienne....cowgirl. Duh ;p
Brint: I always get Brienne asap (just a preference) but I'd put Brint proper in a similar camp as Arona
Cait...hmm she's versatile, Big points for anything that gets her tits involved most definitely.
Etheryn: My fav subby elf. Doggy-anal
Kikyo: Is it a cop out to say the fox likes doggy style lol I lump her in when Brint and Arona. Likes positions best for getting a good breeding in outside of stuff that takes advantage of how deceptively light and maneuverable she is apparently.
Viviane: Doggystyle and BDSM oriented stuff