i don't use NYGM BUT when i have seen this sort of persistance once or twice---you can sit there for hours and round he will go ad infinitum--allmost as if he is stuck in a loop--
save your game and exit (if NYGM allows) then reload the save --this "woke" the escort up on the odd occasion ive seen this --and off he would go back to the convoy---
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the world's tinyiest sh3 supermod- 
and other SH3/SH2 stuff
http://www.ebort2.co.uk/
The best lack all conviction, while the worst
Are full of passionate intensity.
W.B.Yeats
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