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To force your thing to not go upside down, look under Gameplay Gear there is a gizmo called Auto Guide. This is good for forcing your objects to stay upright for example. Have you noodled with that one at all?
Also, not sure the follower is made to do what you think. The follower is mostly for having maybe like a pet, or enemies running at you or similar. It’s natural for stuff to lag behind when using follower. It’s sort of the basic AI of a separate creature.