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If you use mods, I recommend one called Amazing Follower Tweaks. It lets you control them a lot better. It can also make the companion way too overpowered. It is easy to avoid that if you want to keep the game interesting. But you have to tweak the mods settings some.
I always wondered about this but never looked into it, but i'm 99% sure it's the distance. i always thought of it as shotgun range.
Using command will always allow you to use the 4 options, but if you're outside of 'shotgun range' you can only command them to Go/Stay. But while it's activated you can run up close to them and the Go/Stay will change to the 4 options. But if you're close to them when you hit Command you won't be able to use Go/Stay, you'll just get the 4 options.
So if you want them to unlock a door/safe/terminal you have to be outside of shotgun range when you command them.
I use UCF so I havent tried the follower tweaks mod but it might be worth looking into.
This is the contents of the 'zip' file:
📁 AmazingFollowerTweaks-26976-1-23-1546711775.7z
📄 readme_aft_1_23.txt (243 kb)
📄 unlockcurie.txt (0 kb)
📁 Data
📄 AmazingFollowerTweaks - Main.BA2 (4148 kb)
📄 AmazingFollowerTweaks.esp (2048 kb)
📄 unlockcurie.txt (0 kb)
You only need to add the .BA2 file and the .esp file into the data directory. Then you can activate it using the games built in mod manager. The MODS button the main menu. Then load order.You should move it down past all the official game files if it is not already done.
When you give them a command you have to take your crosshairs off them. If you tell a companion to do something they'll stop moving or move extremely slow if your crosshairs are on them but when you stop looking at them they'll speed up. (dont ask me why)
With Cait i'll tell her to unlock a safe then I'll look to the side because if I look at her or the safe she'll run up to it and stand there until I look away like she's trying to use the bathroom.
also..sometimes if there are obstacles in their path it takes them longer to move to their destination. There were times I literally had to stand back, hit command and then "Move here, move here, move here, open this" because they couldn't figure out how to get from point a to point b.
hope that helps...and mods are easy to use just follow the tutorials and read the description on the mod page...and backup your files just to be on the safe side.