That sounds like some seriously complex coding. I know you can write mods to adjust NPC's schedules as a whole, and there's at least one in Alpha* that gets them to follow you and assist you with your day (if they have relevant skills, so Leah forages and Abigail can help fight in the mine), but not how to create one that lets you move them around in the moment.
What would be the purpose?
*it says it's in Alpha but it seems to be pretty well established from what I can tell from the outside, as someone who doesn't use it.