I have yet to play a game where NPCs have the same speed as the player, have you? I get it on the game design level, since NPCs need to move at a speed that their animations look natural at but player characters need to move fast enough to not feel frustrating to the character.
I think it was on one of the Half-Life 2 developer commentary where they mention that the made the NPC move faster than your walking speed, but slower than your running speed, so that you are able to catch up with them if you stay behind to look at something. If they move at your running speed, you are kinda forced to follow them all the time, and any obstacle will separate you more and more from the NPC that you are supposed to escort.
But that feels terrible if you want to follow them without stopping (or in the case of obstacles, are able to).
Even Ocarina of Time, in 1998, got this right. The Dampe race, which isn't technically an escort, would feel weird if Dampe was too much faster or slower than you, because it would feel unfair. But not everyone moves as fast while playing - some people like rolling, which is a different speed from walking, etc. Also, he throws fireballs at you, and players who are less good at dodging them will end up being slower. So Dampe doesn't "follow you," (in fact, he spends most of the thing in front of you), but he has a rubber band effect. If you get too far behind, he slows down. If you get too far ahead, he speeds up. This does a good job of keeping him in view, which helps give the feeling that you're going at an intended pace, whatever reasonable pace you take. If you're too slow, you will fail, but... it pretty much requires standing still or getting hit by lots of fireballs.
In contrast, the Yunobo escort in BOTW feels terrible casually and even worse to speedrun. He's faster than you walk, but much, MUCH slower than you run. And if you get too far ahead of him? He stops.