I just bought Ananias roguelike on Steam. The rogue has an ally whose behaviour can be cycled between “charge,” “follow,” and “stay.” (I wonder if this is what Bas Testerink was referencing.) The cycling is performed simply by pressing a button on the UI.
For KeeperRL, when you are controlling a unit, I wonder if there could be a “button” for every ally you have in your party. All of these buttons could be lined up along the bottom or the side of the main window. Clicking on these buttons would allow you to cycle the behaviour for that ally (or potentially do more stuff). I’m just mentioning this because I thought the UI design in Ananias roguelike that let you do this was convenient.