[RPG] Can you have a companion from your backstory

backgroundcharacter-creationdnd-5e

My character's backstory is that he had to flee his city because he used a spell to save his best friend in the city watch. He is from a made-up city where spells and powerful magic were privileges that only nobility could have; it was illegal for commoners other than having simple magic items, like a broom that sweeps by itself.

My character had been studying in secret and is a level 3 fighter with Eldritch Knight archetype. Background: City Watch (from Sword Coast Adventurers Guide)

Note: this is actually a replacement character in case my main one dies or if I play a campaign that starts at level 3.

Is there a way to establish that his best friend ran away with my character and become a companion or something? Or, does that have to stay in my backstory?

While I realize that some responses will be "ask your DM" I'm looking for (1) if there is a way to do this and (2) if you have experience in making this work.

This is my third D&D character so I'm still new-ish to the game and I'm not entirely sure if this is feasible and/or practical.

Best Answer

Tasha's Cauldron of Everything has rules for sidekicks.

In the section on Sidekicks, we see:

This section provides a straightforward way to add a special NPC—called a sidekick—to the group of adventurers. These rules take a creature with a low challenge rating and give it levels in one of three simple classes: Expert, Spellcaster, or Warrior.

A sidekick can be incorporated into a group at the party’s inception, or a sidekick might join them during the campaign. For example, the characters might meet a villager, an animal, or another creature, forge a friendship, and invite the creature to join them on their adventures.

It goes on to give detailed rules for each sidekick class. Speak with your DM about implementing these features for the character, choosing an appropriate sidekick archetype for the backup character's class, converting it to a proper player-character when you retire your previous character.

Note, these are optional features and it is entirely up to the DM to implement them or not.