This was one of my favorite games as a kid and, along with a number of Sierra and Infocom titles, was one of the first adventure games I remember completing without getting the hint book from the bookstore (the 1990s version of the internet).
It helped that I was knee deep into Piers Anthony's Xanth series at the time.
Companions of Xanth is an adventure game published in 1993 by Legend Entertainment. The game is based on Piers Anthony's Xanth novels and is loosely based around much of the plot of his novel Demons Don't Dream, in which a young man uses a computer game to enter and explore the world of Xanth.
Typical to Piers Anthony's novels, the game is filled with puns and visual gags, and some knowledge of the Xanth universe is helpful; for those players who haven't read any of the Xanth novels, an in-game 'Com-Pendium of Xanth' is provided to the player for the majority of the game.
It was available on both floppy disk and CD-ROM. The game uses 256 colour 2D graphics.