Oo, I just posted about this. I'll delete that post and add my experience:

I've encountered an issue where Halsin is in the group but won't follow my party leader. I have a save file where he is following normally, but after the next combat encounter--no matter which encounter it is--he will stop following.

Things I've tried:

Manually unchaining and rechaining Halsin's character portrait to the group.
Toggling Group Mode.
Removing Halsin from the party and inviting him back.
Short resting.
Long resting.
Knocking him out (Halsin did not appreciate that)
Fast travelling locally.
Fast travelling to a different region.
Making Halsin the party leader (rest of group follows him normally, but he goes back to standing still when I switch to a different leader).

At this point I'm at a loss and it seems like I won't be able to use Halsin for the rest of this playthrough unless he leads the party. Would appreciate any help to resolve this issue! tyty