Stupid question but how exactly does commanding a companion/follower work? If I'm playing as the male character, how can I make Yona do something like gather/follow/fuck?
The other MC is NOT a companion or follower. They do behave more or less like a villager, but you can't take them into your party, and you can't command them to do work. Still, they make good guards, since you can arm them with the best weapons.
For all others, there is a "follow" command when you talk to them, and you can set up their position with "location" command when talking, and their job with one of the tabs of their "status" page.
But you better use a guide, because just about everything about it is un-obvious.