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Which is super easy, all you have to do is give him flowers.
I once took an NPC with me all the way through a dungeon and then took him to his destination a while later, he even had dinner with us at a camp XD
I just get bags of goodies they leave hanging next to my door.
I sleep there over and over but no one shows up.
I've maxed affinity few but they're not important NPC's, some in Scared Arbor, some are romaing 'friendly' Bandits. For testing I maxed Kendrick in the slums and then slept in my house over and over and no escort quest from him. I've maxed Taleisin (chief in Sacred Arbor) and nothing, they just leave gifts hanging on my door.
Some Battahl NPCs like Menella, Lamond, Hugo and Empress Nadinia will only show up at your Battahl house. Taleisin and his daughter Doireann ask to be escorted while you are in the Sacred Harbor, and I know Trysha's grandmother Eini will sometimes ask to be escorted if you pay them a visit after completing their quest. Basically search around where the NPCs usually dwell or at your house in the two cities and you might find someone who wants to be escorted.
I guess that's a whole category missing in the wiki pages: list of which NPC's request an escort at your house.
The problem for me initially wasn't the distance rather than I had intended to go the complete opposite direction for a different quest, I was just stopping by my home to get some supplies before leaving Vernworth haha
Edit..
Not his main quest mission though ofc. just his escort turn-ups .
But then since I got all the affinity-related cheevos already, I'm not really bothered if they hate me now, so I can just decline them, pick them up, throw them at a wall or whatever. I'm pretty sure Glyndwr has given up on my Arisen now since he was loitering around Vernworth when I went on my last killing spree to gain FPS...
... It is just a shame that all the NPCs I cull just reappear a few days later like nothing even happened. Why do we even have wakestones again?