Hopefully these suggestions won't be too strenuous on the coders.
Allow pAIs to hide beneath surfaces when unfolded, so they can be discrete listeners if they cannot be hidden somewhere.
Give pAIs a flashlight, so they may flash them to attract attention to their master's body, boost their master's radiance, or to scout that dark scary room in the gateway.
Allow unfolded pAIs to open doors, so they do not get trapped behind an all-access hallway door, and allow them to enter/leave the gateway so they can get help for their stupid, stupid, stupid master after he gets himself killed.
Allow pAIs to travel at human speed, so they can follow their master without being dragged.
Allow pAIs to ventcrawl. This allows a pAI to get help during a telecomms blackout, and given they have no accesses and cannot pick/drag items and can be passed through like drones, I don't see this being a problem.
Upgrade the pAI's bioscanner. Give it the power of a full body scanner, and allow them to print out a record. This gives them an edge over a full health analyser.