Can you please elaborate on it?
Just make it Pin as Rope, look inside the pin chain style to see the behavior in action.
You can also work with the conditionals to unpin him when necessary and make him walk around, etc.
I did it by this way and on another way.
The second way is very much complex, but give you flawless results. You'll need to work with conditionals and make a very smart AI.
Download the sandbox on my signature to see how I implemented the detectors for various situations. After it, I did an Artificial Intelligence, where the NPC will detect if he is overlapping an area around the player, if not, detect the best path to reach the player, and the detectors are made to setup the animations necessary for various situations, like in a climb, edge, cave, underwater, etc.
I think you can just make a circle and try improve the pin in chain style for your game. If you don't know how to setup him fall back to the ground, just unpin him, and the behavior will do the rest, them, pin again. Check left, right, and setup the right animation for each situation, also, check if the player is mirrored, and if the follower is on the left or right of the player, etc.