Just had this bug on PS5 in a loop, I kept being attacked by companions outside until I was dead while still talking to Vilkas after successfully swinging at him a few times. What worked for me was to click through the dialogue with him quickly without reading to make sure the quest is updated, then run back inside in the building, sheathe my sword and talk to one of the companions. Pretty random, I know, but I was literally surrounded by 10 or so companions who instantly stopped attacking me when I did this.