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So the general consensus is basically that if you can get past that graphics, it's definitely worthwhile? I was going to ask this same thing, but I often play PS2 on an HDTV so I'm not thinking I'll really take issue with the graphics if that's the only downside.
If there is game data installed it might be worth a try deleting it and letting the game download the updates again. Maybe something happened during installation to mess it up.
Have you checked with every Companion leader? I vaguely remember not being able to get quests from anyone until I did a radiant quest of Aela's.
Or maybe try talking to Skjor at night to see if that will trigger the next part of the Companion questline.