Components are mostly cosmetic. Health and Armor are barely affected by the changes and Shields aren't lowered enough for gating to be any more useful.
Para/Nychus, Lehan, Tyli, and any leg component other than Drimper can be used if you really want to maximize single digit percentages.
Precept mods have a priority system as shown in the following picture, with 1 being the highest priority and 10 being the lowest priority.
Precepts are placed in their current spots to ensure they're used in the most opportune times. Do not change their positions unless you're confident in how these conditional mods are activated by your companion.