This page of the guide to Elex 2 contains a walkthrough of the Loyal Companions mission, which you will receive during the Adversity quest. The mission is simple - you only need to talk to Jax's companions.
Talking to companions
Your goal is to talk to some of Jax's companions. If no companions have left you (due to a drastic drop in the relationship level) then you need to talk to the following characters: Bully, Fox, Falk, Nyra and Nasty. You can find all these characters in the Bastion. Ask each companion if they will help you on your trip to Mararcor. The mission will automatically complete when you're done with all conversations.