Inventory management has been a long-standing issue in Bethesda’s games. From having to browse multiple menus to accidentally taking everything in a container and needing to return all of the items, the process can be a hassle. Starfield does offer a minor quality-of-life improvement, since you can directly sell goods from your ship’s hold to vendors.
Be that as it may, if you somehow gave items to another companion, you still need to undergo a tedious process: talk to a companion and ask them to head out (which dismisses your previous companion), open their inventory, grab the items, dismiss them/re-recruit your previous companion, and then do another trade.
Improvement to the user interface and mechanics would surely be helpful. As it stands, your inventory becomes a mish-mash of random assortments even with different categories. For instance, digipicks used to unlock safes and doors are in the miscellaneous items tab (i.e. junk). Similarly, you have to browse your entire cargo hold just to find contraband and stolen items to sell–sorting by value is possible, but that would include expensive gear pieces, too. Likewise, it’s not possible to mark items as junk, separate and distinct from more important items, so that they can be sold in bulk.