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I want to add to the discussion that having NPCs fighting alongside PCs has an extremely negative effect on the combat experience. The length of turn is already too long for casual play -- everyone needs to be on top of the game and the rules to finish a decent sized combat in under two hours. Now you're increasing the number of GM turns to include both sides of the battle, which is a kind of GM solitaire with occasional player intervention. Or you turn over the NPCs to the party, meaning those players must now master statblocks they did not create.
This is one of those statements that reminds me that I play a very different style of Pathfinder than most others on this board. Unless the battle is a set-piece that's supposed to take a large portion of the session, I haven't had too many fights last beyond an hour (in a campaign that's currently 14th level with 2 mythic tiers).
Not sure where the big divergence is between the play styles, though.
As to NPCs involved in combat, I've had a lot of success with players taking control of an NPC during a battle. It keeps them involved in longer battles and also lets them try out different mechanics than the class they're currently playing.