Sometimes I would get this weird pathing issues with my companions. It seemed to start right when I got a sixth companion, or in my case Sagani. Basically when the party moves to their move location. One or more companions "stutter" rapidly in place trying to find a place to stand. It seems like the issue might be worse with a party formation that is compact, but it happens still in more spread out formations. You'll also get an annoying sound of rapid footsteps as the characters jitter.
I think sometimes even NPCs off screen can bug, because sometimes (once my own party starts bugging ou