I was about to say "Everyone from Persona 3, 4 and Mass Effect", but that would be too boring. So, instead I will pick one favorite from each game.
From Persona 3-Junpei Iori! There are many "bro" characters, but Junpei is particularly endearing because he shows the biggest development of all of them. I love the fact that he doesn't start as your best friend right away. Sure, he is friendly and goofy, but he questions your command and even acts like a complete jackass. And this is what makes his eventual development so much better. It's fire forged friendship and both of you start to grow accustomed to each other. And yeah, as I said, his character development is kinda amazing. He goes from class clown and butt-monkey from beginning of Journey to the most rational and level headed person in a room in The Answer.
From Persona 4-Chie Satonaka! Chie is not just my favorite companion, she's my favorite character ever! She's brave, optimistic, surprisingly smart and... well, bright! I think bright is the most fitting description of her character. Chie manages to stand out despite being the most "normal" person in her team. And yeah, the way Erin Fitzgerald voiced her is just perfect.
From Mass Effect-Garrus! Well, yeah, Garrus is the "bro" character in gaming.
From Front Mission 3-Jose Astrada! Jose was probably the very first "tragic" character I encountered in videogames and I loved him for that! He was initially your opponent, but with right choices he would become your teammate. I love that there's just some pain and tiredness in his face and in the way he acts. He's not evil, he's just an old soldier full of regrets who wants to rest.