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So this game probably not for you.
I haven't had any companions (so far) run off and start doing stupid stuff on their own. They stick with you and don't do anything unless you come under attack or you direct them to perform an action via companion ability.
If you are planning to run through an enemy camp to get somewhere and don't want to fight, just keep running. While your companion will start fighting once you come under attack, he'll reset and return once you get enough distance.