I created in-game macros for follow and assist.
/target <other char's name>
/follow
The ISboxer method sends the "/follow ..." as text and then sends the enter key, afterwords. For me, it would often get out sync and my other character would get stuck in chat dialog and not respond to any keys being sent. Seemed to work much better using in-game macros.
Also, make sure you have the SlashTarget addon installed.
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