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Try ordering them to a spot or having them wait (not sure if that is a vanilla Command or a mod). Then tell them to follow.
You can test if it is an animation/behaviour missmatch due to script lag by opening the console when the bug occurs. While the console is open (buffered) scripts will still get processed but the game is otherwise paused. Just let it sit there for like 15 seconds then close the console. If it's due to script lag the follower should return to normal within a second or so. On script heavy setups i like to open the console after transitioning into a new heavily crowded area to let scripts "settle".
One of the very best things AFT does is allow me to set up so that whenever I draw a weapon, my current followers teleport to be behind me again.
This is fantastic. When Lydia gets stuck behind a rock or on a stair step somewhere, I just keep going and draw my sword a bit down the road and viola!, Lydia is right behind me again.
If you hate having your followers get stuck or lost due to Borked pathing, AFT can make that all go away with this one setting.
Also great for when I need to drop down a cliff into the back of a fort. If I slide down the cliff to attack from the rear, my followers will try to go all the way around in an effort to catch up to me.
Sometimes I want that. Sometimes I want Lydia to start a fight at the front gate of the fort so I can hit the baddies from the rear. Draw weapon first, then slide down the cliff.
Sometimes I don't want that. Then, I simply slide down the cliff and then draw my weapon to make my followers appear right behind me again so they don't go all the way around...
https://www.nexusmods.com/skyrimspecialedition/mods/18076 - NFF updated in January 2021
AFT, updated in 2017, less features, more buggy.
Thanks for that Stefan. I will give it a shot. :)
Be sure to check the install instructions as the author states what should be done pertaining to an existing save.
edit: just ignore the part about cleaning.