I've been having Companions as followers for a while but many of them die during quests. I took Athis with me during the Civil War quest and he tragically died - only to show up later on in the game back at the Jorrvaskr! I felt horrendous when he died so I'd abstained from using Companions as followers and such, until I realized that Athis had respawned and the Companions appear not to die quite permanently. I also experienced Aela, Torvar and Njada's deaths but they haven't respawned yet. :/ So now I'm worrying it might be a glitch.
Is this true? Has anybody else experienced this?