I think henchmen are pretty good. Sometime they get stuck in weird places.. But it is possible to unstuck them by running around them in different direction.
Sometime i got my NPCs stuck to the point that once i managed to get it unstuck, 2 other got stuck at the same place. (it was in Ring of Fire mission just where you meet the first Lava Imps) They were getting stuck in the mountain.. took me about 5 minute to get everyone out of there for good.
1 thing people probably forget when playing with henchmen, is that they have skill recharge time and energy to regain also. Give them the time to regenerate before running in next fight and they will perform a lot better
I was in the desert the other day with henchmen. the whole party but Reyna got killed by Hydras. When i died, there was 1 hydra left. She used Troll Unguent, Resurection Signet on me and she finished up the hydra before i could resurect Stefan.. I wanted to give her a Forgotten Seal since it looks like a medal.. but she didn't take it
The Henchmen are better than i could ask. Even if we can't control them, they are a lot better than many player i played with hehe.