companionship
n.the feeling of friendship and comfort you get from spending time with someone else. It means you are not alone because you have a partner, friend, or pet with you.
n.the state of fellowship or friendship; the comfort provided by the presence of another person or animal.
“She enjoys the companionship of her dog on long walks.”
“Many elderly people move into shared housing specifically to find the companionship they lack when living alone.”
“While some travelers prefer the solitude of the wilderness, others find that shared companionship enriches the experience by allowing for the immediate exchange of ideas and impressions.”
Often paired with the preposition 'of' to identify the source of the fellowship.
From companion + -ship.
Etymology adapted from Wiktionary, available under CC BY-SA 4.0.