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In theory: No, not yet.
When? When the dang CK is out, hold your horses
They need to implement the companion map markers New Vegas had.
http://www.nexusmods.com/fallout4/mods/4062/?
* hits cait
F
While it can't stop companions from running into your line of fire it has stopped them from running into me and shoving me forward.
Using the console I adjusted their speed to be about 5 points below my mine. This way they won't continuously run towards me, slam into me then have to back up.
Seriously if any of them had the Pain Train Perk I'd have been killed several times over.
If you are crouching he does it less.
Nick has a real issue with heights. Leave him on the ground and throw loot down to collect later.