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I think this usually only happened when they were a fair bit away from my/Shepard's position.
They do seem to teleport back to you if you engage in a conversation with someone, or take an elevator.
Just keep an eye on them so they do not get lost before going into a battle :-)
This has happened to me more than once :) I'm too hasty to engage in a battle I guess *grin*
In ME3, I've seem them sometimes seemingly idle (well, stay in cover doing nothing) in combat for a while -- James in particular. Don't know whether it's because there's too much incoming fire and their scripting just forces them to stay in cover, or whether there they're waiting for a cooldown that's overly long, or whether e.g. some ability/gear combos for them just result in bugged behavior.