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Also experiencing this issue. The piece that bothers me the most is when a companion joins my party with a horse and I remove the horse but now they run around on foot with whatever calvary formation they choose.

MArdA TaleWorlds 说:

Have you equiped your companion with a horse and it is still not shown in the formation?

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That is correct. A companion equipped with horse, spear, shield, javelin and sword will stay in infantry formation. This only happens if that companion is not assigned as a captain and I have more than 1 companion with same equipment. For example, 3 calvary companions, 2 will stay with my character in the cavalry and 1 will stay in infantry (on a horse).

Another situation is when I marry a character that comes with a horse and bow, remove the horse, but now she will stay with horse archers even though she is on foot. I have not found a way to get that companion to move to the archer formation.

I am experiencing the same issue. It is not exclusive to cavalry. Sometimes creating new formations and resizing them will fix it for that battle. No mods.