I'm sure others will chime in as well, but I would skip the companion board. It requires a 3rd party gateware, which is not supported by the hermes lite 2 project. If you have issues with it, you'll have to contact the person that produces that board. For audio, the companion board is basically a network attached sound card. The I/Q signals are still sent to the computer to be processed, then the audio is sent back over the network to the companion board. The latency isn't noticeable, but why the extra steps when about everyone has a sound card in their computer already? I use my HL2 remotely. It sits in my garage near my antenna feed point, and I access it from my second floor office. In this setup, I don't need an audio port on the radio.
For the I/O board, all the instructions for it are located here:
https://github.com/jimahlstrom/HL2IOBoard. It is a pico based device that you load firmware on to control what you want. There is a library in that github repo for the icom AH tuners. You can control that and whatever amp you get at the same time with the I/O board, but it will probably take some customization. One of my HL2s has an I/O board and its all setup to control the hardrock 50+ amp (which I also own). I have not had time to work on getting it all setup and verified, but it seems straight forward. My tuner is an LDG pro II, so that just works automatically.
I hope this helps,
Heath
NQ7T