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Yes, their Engineering skill will be utilized as army members. I frequently use my companions as party leaders and drag around an army of just family/companions, and they all get Enginnering exp. Also, if your quartermaster has Paid in promise and/or Giving Hands perks, and you dump gear for troop EXP, it affects the other parties as well. It's a fantastic way of pumping up their Leadership skills.
Clan members use the same skills as the human when in a party. The only difference from the player is that they cannot assign anyone else one of the roles as they can only have themselves and no other clan members.
I know AI party leaders gain skills when in armies. The player gains Engineering skill if in an Army with no assigned companion as Engineer, and the companion gains the experience if they are the Engineer. That doesn't mean the army is benefiting from the Engineer perks from your companion.