The Unknown One

I know that in GTA V you can call upon Micheal, Trevor or Franklin to follow you and assist you in gunfights. I'm just curious if there is a system in RDR2 where you can ask the people in your camp to follow you or something along those lines? I'm asking this because there are a few set story/side missions in which you lead people to a certain destination and help you fight along the way, so the mechanic is certainly in place. I know that Arthur is practically a one man army, able to gun down every policeman in Saint Denis, but I think it would be nice to have people follow me around.