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I haven't found a way to fix this. Standing next to him and save/reaload does not seem to fix this. There are no notes of this bug in any wiki.
How often have you restarted skyrim?
How modded is it?
Have you run Boss or Loot to check for errors?
No. There is absolutely no settlement modding in my game. None of my mods should interfere Hadvar in any way.
I actually tried to find a solution to it, by using Live Another Life mod to help me out. I started from Riverwood and ran up to the cave. I noticed that 2/3 times Hadvar got confused. I tested it with several new games and s everal times loading from inside our outside the cave. I left the cave with him and occasionally took the high road without him. Hadvar acts mostly normally, untill Riverwood. He might take few breaks during the trip, or do some extra running.
It all stops to Riverwood, when he is supposed to say "Things look quite enough here" and walk to his uncle. Instead he just stops near the fireplace and stays there. Alvor does not recognise his nephew being almost inside the Riverwood and acts as you had ran from Helgen to Riverwood without him.
I tested several tricks to get Hadvar moving again. I managed to wake his AI by standing real close, or standing near during save/reload routine. In both cases he did some incoherent running around the pathway, ending up near Sleeping Gian Inn and finally back to his position.
I even download few adult mods to test this out. Just to see, if his AI could be snapped out of it. I created a female character to seduce and take him to inn for a little "rest." Hadvar walked out right after the scene. I thought he was going to meet his uncle, but instead he started running again and stopped to previous place.
Something is clearly overriding his AI, but when it isn't consistent (2/3), then pointing a culprit, when most obvious ones have already been ruled out, is a tricky task.
I disabled most of my mods to test this one out. I moved to Skyrim Unbound soon after this. This glitch can't be repeated with it – because Hadvar and Ralof are not in Helgen –, so I haven't done any later tests with it.
If other players are experiencing this as well, it might be a good time to search for solution.