You all pretty much presented the ideas I would go with.
Ganondorf, Link, Zelda, Groose, Tingle, Malon, I love all these choices!
However I'd still like to present an enjoyable gaggle of folks that all to often get over looked!
Tetra's Pirate Crew from Windwaker anyone? Am I the only one who LIKED being Niko's "Swabbie?"
Hanging out with a fellow swordsmen like Ralph of
OOA seems cool.
I'm also fond of Pipit...
Maybe chill with the Minish and learn they're tiny ways?
Oh! And the animal friends of the Oracle series! Dimitri, Moosh, and Ricky! For shame they are so often over looked...
I think however my final choice would be Gorons! No particular one, just the Goron folk in general. They're over all fun loving desire to dance, race, play minigames, chill in hot-springs, and be the only race with real tech all the while remaining derpy and clueless makes them the best folks to hang out with in my book!