One image holds this whole family together: walking beside. To accompany someone is to walk beside them; to lend money is to let it walk beside the borrower until it returns; to borrow is to take that money along with you. From the same three letters Hebrew builds an escort, a satellite circling its planet, and even a funeral, the last accompaniment of all. Every word here is verified against pealim, niqqud included.
The same root runs through the verb system. Each binyan is a voice: it bends the one idea into active, passive, causative or reciprocal. Tap to hear.
Notice how the binyanim split the meaning cleanly: pa'al takes the loan (borrow), hif'il gives it (lend, the causative "make it go to someone"), and pi'el / nif'al carry the physical sense of going alongside someone. The passive moulds pu'al and huf'al are not lexicalized here.
Same root letters, different noun moulds (mishkalim). The mould tells you the function: who does it, the act of doing it, or the thing produced.
Strip the prefixes, suffixes and vowels. Three consonants remain, and the meaning lives there.