Ward.
Same issue here. Branoc's stuck inside a castle on the campaing map and now armies of my faction are headbutting the walls trying to reach him.
And before anyone posts, yes, I did tried:
-Killing the hero AGAIN through console commands.
-Destroying his party with commands won't work.
-Niether does teleporting said lord.
-"Bringing him back to life" by taking him prisioner with commands and letting him escape, somehow, actually revives the NPC in a way. But then I have one that's inside the keep of one settlement and the buggy one still inside the castle on the campaing map.
-Can't teleport to his position to deal with him personally as the cheat will allow you to get on top of impossible to reach mountains and similar terrains, but not inside settlements for some reason.