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The whole city was filled with confusion
Here "city" refers to the people. The city is spoken of as if it were a container. And, "confusion" is spoken of as if it were the contents that filled the container. Alternate translation: "Then people all over the city became upset and started shouting" (See: rc://en/ta/man/translate/figs-metonymy and rc://en/ta/man/translate/figs-metaphor)
the people rushed together
The people formed a mob and nearly rioted.
into the theater
The Ephesus theater was used for public meetings and for entertainment such as plays and music. It was an outdoor semi-circular area with bench seats that could hold thousands of people.
Paul's travel companions
The men who had been with Paul.
Gaius and Aristarchus
These are names of men. Gaius and Aristarchus came from Macedonia but were working with Paul in Ephesus at this time. (See: rc://en/ta/man/translate/translate-names)