If any of your toons is faster then the others, ie Paladin with four Shaman's for example, have the faster toon (Crusader Aura in this case) in the following group, not the lead character.
This helps quite a bit.

There's not a lot you can do against the server latency issue.
As Blizzard upgrades servers, and as many who have returned for the expansion tire of the game, the issue will likely go away.

You could give each of your followers Mithril Spurs, Carrot on a Stick or Riding Enchant to gloves, but not the lead character.
This is the same idea as the Paladin above.
Not an ideal situation, but it helps a little.