Possible solution to friendly NPCs blocking doorways, etc from the Player.

[Viperslayer]

This is probably an impossible idea, but many games allow you to simply walk right through your teammate.

Do you think this would be possible in Skyrim?

[MalachiDelacot]

If it can not be done, this mod might help when the way is blocked:

 

https://www.nexusmods.com/skyrimspecialedition/mods/752

[anjenthedog]

FWIW, If you use AFT, you can easily deal with this by using AFT tweak command "actions >> get behind me"