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well in skyrim they haven't got perks and affinity however in Fallout 4 they have.
1: http://steamcommunity.com/sharedfiles/filedetails/?id=762744192
2: http://steamcommunity.com/sharedfiles/filedetails/?id=762744307
3: http://steamcommunity.com/sharedfiles/filedetails/?id=762744255
Dog wasn't in companion mode at that time. It's during the quest where you let him look after Kellogg. I couldn't slip past him, I couldn't give him commands to move away, I couldn't jump over him. I managed to get past only by putting several bullets in his head! I don't get why avoiding this kind of stuff wasn't a much more important topic during development!!
And exactly this happens all the time, though when he's your companion, you can at least command him to move.
Plus, standing next to a follower or NPC only makes the situation worse. They track you and normally halt what they are doing.
All you had to do was click on the bloody piece of cloth next to him and then talk to dogmeat to keep searching and wait for him to move.
Oh, they *know*.
Dogmeat is programmed to run in front of you a little way - the others to stay behind you - guided by where your cursor is pointed. Which is why he will SPRINT to stand on top of that stimpack you were just about to pick up from the ground at your feet.
As for doorways - its like they all have edge detection programmed in and are told that in the middle of a doorway is the best place to be and that there's no difference between stepping off the edge of a curb and stepping off the edge of a 30 story high platform.
A lot of it would be no problem if they used the solutions *they've already developed* for the other games.
Sprinting in Skyrim allows you to push NPCs and companions out of the way - in FO4 the physics is set so that a damn little housecat will stop a power armor charge.
IIRC, companions in Skyrim also recognized when you bumped into them and would move.
What they have improved is that companions will not move to melee *only* directly in front of their target. They'll attack from the sides. In Skyrim, if you - as a ranged attacker - drew aggro then your companion would shift to stay at the enemy's front, who is no directly facing you, and so block your shots.
In FO4, they'll still run up to the front, but if the enemy turns they won't turn with it.