I found that when I applied high level sailors to my escort ship, it actually was capable of doing a good job. The problem is that sometimes they end up doing dumb things, for example crossing in front of teammates.

I suggest that we give the escort ship a simple move on/off, just like the weapons open/cease fire. No speed controls or anything complex, just the ability to stop and start. This would allow you to stop the escort from crossing your teammate or prevent it from driving into a torp wall. With a little bit of creativity, it could also allow you to steer the escort if you were so inclined.  If people don't like it or dont want to fool with it, they would still have the option of just letting it circle.