That is possible now, however you must be careful to avoid letting the npc walk across certain places or it has some erros in console about nav mesh.
But everything you ask for is totally do able here with free umod plugins.
I have worked alot with the npc lately and have them playing my voice recordings and things like that in game/walking around bases/doing quests/gathering trees and nodes for players/sitting in minis with you/riding in cars and just about anything you can imagine.
While i dont work for others any longer i can assure you it is all indeed possible just using the free plugins on umod currently available now.
Anyone of us could do it.
Cheers