Not to mention that with Kinu, it would be interesting to have a party companion with only wholesome interactions!
As Savin mentions here, you really can't have Kinu as a companion without the possibility of not-so-wholesome interactions. The way the game treats your Companions' presence for post-battle sex, eventually you'll run into a scene where the parser code decides that Kinu's a participant and then you either watch adorable floof daughter get raped or you watch her go down on some defeated enemy. Either way, suuuuper awkward.Unfortunately Observer has already shot down the idea of a Kinu companion. Her story will be mostly her own thing and you won't get to partake in it or vise versa, which honestly sucks. If I had the opportunity to, I would flip that around and have Kinu as a companion ASAP.
I think the only companion who's excluded from most post-battle sex (except when she's specifically written in a la Winter City) is Ryn and that's mostly because the game apparently broke trying to figure out how to deal with her unique situation, so they worked around it. Even there, she still pops up in some scenes that grab the names of your companions without going into details. That means Kinu would show up in those same instances. So yeah, not gonna happen.
I mean it would be fun to be able to have a file where you have a full family party but between the implications of post-battle scenes and the fact that it would detract from the whole point of Kinu having her own storyline (coming into her own outside the shadow of her parents) it's just not happening.

