Take the Lead is a small CDDA mod that lets you take control of your NPC companion as long you can talk to them.
After installing the mod by putting it into the mod folder of the game and add it to a world's modlist, (C)hat with your NPC companion and select the "You take the lead" dialogue option to switch into controlling the NPC companion you were talking to. It's also works on 2-way radio.
Version 0.G and beyond.