I see no one else would want such a thing and i can understand, but how about adding a 2 players system as in 2 companions/friends wandering the world together ( lets say they can't be 50 metres apart from each other) and enjoying the game like you have a follower with you. Now that would not ruin the whole concept.
Edit : Daedralord101 i did not see you mention the things i mentioned above, was typing them and then the thread updated. You took the ideas right out of my mouth

Who gets to lead, who is the follower?
In your example, sounds like you want your friends to follow you around, do what you tell them to do, and basically make YOUR play experience better. I don't know about you, but I don't want to play as someone else's lackey. Do you really think your friends want to do that for you?
The game world is too complex for more than one player. Every action can have positive or negative consequences on a faction. What happens if your friend accidentally steals from the Stormcloaks, barring him from ever joining them. That was the main faction you wanted to join. Or they drop a quest item without realizing it, and you need it later. Speaking of, how would quest items even work? Two masks, two lutes, two of everything because there's two of you? If there's just one and it's in your friend's inventory, how do you finish the quest if they're not playing right now?
There are dozens of great games out there for co-op. Go play one of them. Or, you could both play on Steam and live chat while you play.