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If you press the Alt button while in a city you should be able to see the names of a bunch of places and people, including your companions loitering around.
Go talk with them and ask them to follow you = next time you go for a walk in a city those you asked to follow will be there with you from the start.
Did you mod your game? Yes/No
You should, by default, have at least one Companion accompany you when you're in a Town. If you have more than one Companion, up to 3/4 will also be in the Town somewhere. By "default." There's no vanilla way to switch off that behavior that I know of.
If your Companions were in a Caravan that was attacked and defeated, I think they'll go to the nearest Town. Not sure, there.
If you've kicked your Companions out of the Clan, they'll go back to being Wanderers.
If you've modded your game and it's borked up, now... Oh well. (Not a great idea to add any mods that could possibly effect dynamic things in your saved game file during EA.)
If this is a bug and you never, ever, never used a mod for Bannerlord, you need to list this as Critical and give a more complete report so it can get fixed.
PS: When you said all you can do is to ask them to join your Party, do you mean you got the same initial "hiring" script or did you get a dialogue with them outside of being in a Tavern? If you talk to Companions that are already in your Party and part of your Clan, you can tell them to "come with me/follow/gather others to meet me/etc." I don't think Wanderers appear outside of Taverns. (Haven't tested it for "released" Companions turned Wanderer.)
Basically used the method above my last answer, but in a village. And for whatever reason, it worked in the village, but not in cities. Now that I got a companion in a village, it enabled it in cities too.
I don't understand the logic behind that, but that's how I did it. It only worked for one companion tho, can't add more.
The mechanics in this game are so ♥♥♥♥♥♥♥ convoluted lol. You need a google tab up constantly once you get mid-late game and even then a lot of the answers aren't out there. Terrible shame because none of this is intuitive.