That's because you have to follow the story lines to meet these people and learn their stories and saving their asses from various fates and even discovering them stuck in a compromising situation.
Hey I like the weapon limit it gives you that moment of decision of "Will I take the rocket-launcher that is out in 4 shots or the assault rifle that can hold tons of spare ammo." but in some other games it makes little to no sense. It makes the combat more intense when you picked the wrong...
Personally I never really grind every quest unless I REALLY like the game (I never look for collectibles) its especially annoying if there is pressure to go to the next main quest(you know what I mean).
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