Pocketing wont happen, as they are "humans" not tools. Rucky made a portable auto turret that might be more what your looking for.
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I left it off the NPCs because it does tend to distract them from other tasks. Balancing how quickly one task effects another task is tricky, so the fewer tasks the better.
Well, in Fallout 4, your companion is a little bit more autonomous than it was in previous versions, but generally, when they see an enemy nearby, they attack them and once they kill them, they quickly run back to you. When you tell them it's time for you to separate, you can set which base you want them to go and they go there. Once there, they never really wander off too far even when the base is under attack, they always return back to base after chasing and killing the enemy. Maybe it could work similarly here. Your companion could stay with you for as long as you need them and if you tell them to go back to the base, they could go there and stay within the boundaries of your land claim and possibly protect it while you're gone.
As for Kilroy's question, I kinda understand why he's asking this. When we talked about NPC companions before you released this mod, I believe you mentioned something like they can keep up with you when you're in a vehicle. I'm not sure if this is still true though. I tried this in one of the previous versions and the companion didn't really catch up, I lost him. I drove back to base, started sorting items in the chests and I thought he would eventually show up, but he didn't. I had to go back to find him. The bad news was that he didn't catch up, but the good news is that he was still where I left him. They are definitely a great addition to the game, but I wish we could travel with them.
How about simulating that they are in the vehicle with you? Once you get in a vehicle, they get in too, except they don't as they would just despawn and maybe occupy the inventory of the vehicle. Once you get out of vehicle, they spawn near you. Would it be possible?