Actually, one of the new features I have already written for the next version is formations. Basically, instead of moving around in the caterpillar, the party attempts to hold a formation, but each character moves on their own independently. There will be a few built in configurations, that can be switched between via script calls, and it is also easy to make your own, it's as simple as typing the relative coordinates of each position into the config.
Also, I'd just like to note that this wasn't easily doable in 2.84 because jumping, running, etc. would separate your party and some characters would get stuck.