Buddy System.

[Call me Arty]

There are a fair amount of cases when two heads are better than one, so why not implement a sort of "buddy system"? For example, elephants, wargs, bears, etc can be a formidable prey. However, enough firepower can take down even a mighty Thrumbo. It's especially helpful in scenarios where one of your workers isn't exactly a warrior, like when mining near an insect hive, or taming an animal with a chance to turn hostile when taming is attempted. It could also aid in growing a friendship or relationship between two pawns (or worsen one) with all of that time spent together chatting and working in tandem.

[Penguinmanereikel]

Hmm...I'm forming ideas from this. Not ideas exactly to how you describe them, but maybe, if players are quite close, then maybe they will try to work and do joy activities together or near each other wherever possible. But obviously, their work is prioritized.
Although, this would likely require an intense overhaul in pawn AI in how they select what work to do.

[Call me Arty]

You know how bonded animals follow their masters for a certain radius? Literally just that. Click on a pawn, right-click on another, "follow" or "Buddy-up with ______."

[Yoshida Keiji]

The buddy systems is really needed as it is a common human behavior. But I disliked the two given scenarios.

First one: Go mining to an area next to an Infestation? That's very unwise. Deal with the insectiods first.
Second one: Taming. When selecting which animals to get, first ensure to have smaller ones following you everywhere, and only then set your target on the bigger prices. Myself for example, I go tame the wargs or elephants with like 10 boars escorts. Then if they turn to manhunter, boars behave like decoys and my colonists makes it home.