I really don't see why turn based mode isn't forced upon all characters in the map upon engagement in combat by one character.
Once one person is in combat mode, any movements by the other character really should be in step timing wise with what the rest of the map is doing. Even if the second character is all the way across the map, I don't think he should be able to run in "infinite speed" essentially toward the fight. If one character raises the attention of NPC's when he doesn't have his friend around, he really should have to pull out at the same rate the second character is coming to the rescue.
I'm glad Larian disagrees, because that's a terrible idea. The idea is specifically to give players the freedom to split up or stick together as they prefer.
You really think it would be a good idea if Bob is in the SE corner and Jake is in the NW corner, and Bob gets into a fight, you really think that Jake should have to take a zillion turns in turn-based to get close to Bob? No, just no.
Obviously being able to attack freely while not entering combat is a bug which has to be fixed, and good job by the OP for finding it.