Seems to happen most often if they get hit before reacting (set to Guard Me and they get targeted first, for example). I usually have my thralls set that way because I am horribly forgetful and Attack All Enemies results in unintended consequences at the Spire and Sepermeru.
What I usually do to try to get around this when a thrall is following me is to order them to attack so they pull their weapon out immediately instead of letting the enemy come to us.
(Fun fact: you can also cause enemies to do this; it’s fun to hit a Cimmerian before they can draw their weapon and have them try to fisticuffs you to death. When I played on Savage Wilds, it was my most effective tactic against Hyperboreans🤣).
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