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As it stands now, the following pokemon feature is severely weak and at the very least should be optional for those who don't want it. Without the simple option, it is still a subjectively good feature and not objectively.
I, however, have a great idea as to how this feature could get a massive redesign, as this feature has hardly improved or changed at all for over a decade since it was introduced. Here's what I propose: in Let's Go, you technically had three ways a pokemon could move with you in the overworld, those being following behind you, being on your head/shoulder, or you actually riding on it. For this new system, any pokemon that makes sense to be on your head (from your party obviously) can be chosen to do so, regardless of the party order. You can also choose to leave hear head free from your mons. Now, the same can be done SEPERATELY for a shoulder mon, a following mon, and/or a riding mon. Think of it way more as being similar to character customization in terms of the amount of raw control you get. For riding mons, this could even go hand in hand with a solution for the dilemma with HMs or pokeride or whatever. Screw the rotom bike. We need any mon that can logically swim and carry someone to simply be able to do so, and the same goes for flying, rock climbing, waterfalling, diving, moving boulders, and so on.