A free mod for Mount & Blade II: Bannerlord, by newpaladinx333.

Companion Party Control is a companion party mod for the game. It is an add-on that allows you to control a party of up to four people. The idea of controlling a party is pretty cool, but the way it is currently implemented is not. You can’t tell them what to do, you can only give them very basic orders. If you want them to attack a certain place or not to attack a certain place, you have to do it yourself. The mod changes all that.

This mod adds the Companion Messenger Service to the menu of all towns, castles, and villages. From this menu, you can give your companions some very basic orders.