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As for personal escorts, your personal fleet, hold Shift-B to board and repair/refuel them, and its a good idea to put ramscoops on all of your vessels.
But, if your jump path is longer than your escorts have fuel, the escorts will refuel partway.
edit:
this is true, but it technically does not answer the question, about ordering them to land.
Option B - get far enough ahead of them that they have to optimize their own route.
The AI checks to see if the ship has enough fuel to get to a known fuel point on the designated path this way, but not on single jumps. And your band of merry misfits apparently never have their own maps. So you're going to have to land while heading into the unknown.
As long as you stay with your fleet (don't go off ahead), they'll refill each other, land when they need to, and ask assistance from passing ships.