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Personally Bethesda did a great job with having running , sprinting and walking, What you describe is your difficulties at what speed do they follow at what weight encumberance. How overloaded are you are they all running at different speeds ... like in RL If you carry heaps or have shorter legs you would struggle to keep up with someone else.
By the way, I don't like AFT cause it's too heavily scripted, and Followers as companions only supports two followers as its maximum.
Well the 'shorter or longer legs' part isn't the problem since basically the vanillia NPC all have the same base body and move speed as the player. The only difference is male and female and that doesn't change the movement rate. Different races don't make a difference either. Followers who are carrying nothing other than the armor/weapons they are equipped with should not fall so far behind the player hen player has a similar or higher encumbrance (ie light or heavy armor), but they are. If I load my character to 1 unit below the max weight for run speed and my follower has nothing but robes on, I will still leave them behind due to the mechanics of how their movement is programmed. They will still not follow over rough terrain and go around it which makes them fall even further behind.
This is the problem that the original post was about. Without mods that alter their move mechanics, the followers cannot keep up like they should. Take a 30 second run across the tundra plains in a straight line (don't touch the sprint button, just run).... Your vanilla follower without mods to aid their movement, similar or lighter weight equipped, tries to keep up. At the end of the 30 second run. Stop. Turn around and watch how your follower is trying to catch up with you.
Even mod followers that ride horses don't keep up with your horse. Their horse should be just as capable as the one you bought at the stable but theirs suffers from the same movement mechanics problem as the NPC does. You leave them far behind if you go trotting off too long without stopping/pausing now and then for them to catch up.
Or make a mod to fix an issue as you see it.
What game are you comparing skyrim to, that you think all followers should be totally in sync with you running across the landscape?
Sure, they sometimes wonder around due to lack of pathing AI, but I never had any troubles with my followers always stay far behind.
What good is a immersive and realistic, if the feature is just overall bad?
Take good example of classic Fallouts, where you have to calculate the item values by yourself and pay with your caps/money when you're bartering with other people. That's realistic, but is tedious as hell. Are you gonna approve this as well?
If you're atheletic skills, speed attribute are high, and your encumbrance is low, you can walk faster than anyone who's doing the same.
When Bethesda was developing Skyrim, however, they decided to remove all these attribute and skills to simplifized their game, and here we are, they added 'controler movement' to NPCs to give different speed to each other.
One step foward, two steps backward as always. And we have someone who's approving that for some reason.