So it took me 30+ hours of play but I finally had a glitch. Doing the quest "Missing in Action", I rescued Thorald. I exited the elf tower only to notice Thorald didn't join me. Went back in and there he stood, but try as I might, I could not get him to exit the dungeon. So here Is what I did to finish the quest up, I got as close to the door as possible, then I took out my bow and bumped him with it(the bow block is an attack). This of course turned him hostile then I ran out the door. Of course he chased me outside to kill me and then I put my bow up therefore he forgave me and returned to following me. I took him to the drop off point and finished the quest. I tried this on a few npc's afterwards and this seems to be a good way to get people to follow you out of or into places. Make sure you only do this once, or else they will not become docile on a second attempt. Hopefully this helps anyone else with this problem out. I saw a few posts where people couldn't get quests companions to follow them so I thought I'd offer what little help I could.