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A few tricks that you can do is block their path when they are running in circles or move ahead to the objective when they are stuck. Sometimes when they are moving on a horseback but is stuck moving against a wall, you can use your horse to push them.
It's really stupid to see "humanities strogest man" riding in circles. I hope this helps! :)
There are 2 types that trigger them stay still.
1. They're stopped because Titan's on their vicinity. The bad design is, their "sense" of danger are too wide. Even the Titan is way far from them, they are freezing.
=> Killing every Titan circle of their position will make them move again. But you have to clear a large portion area of their circle position.
2. You are too close with them. Some AI won't move if you are too close. Tagged Escort Mission, but they don't like you near them. SMH.
=> Get away from their position, I mean, very far. But keep in check, usually in escort mission, Titan will sudden appear near to their position. Can be in start, mid or designated area target.