Not in the base game, but I cannot speak to mods. The only 'friendly' NPC you encounter is the merchant who stays in his camp.

You can tame different animals and use them for resources, mounts or security/extra damage.

I have really never missed having my bases filled with NPCs.

And you do come across villages populated by the undead or goblin like humanoids, but they don't take kindly to visitors so no re-education opportunities.