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Turning NPCs into Playable Characters

Ok, So lets say I have an NPC with a behavior tree that looks like my character(lets say an orb). I want to be able to take a collision box on my character and a collision box on the NPC, collide them having the NPC join my character, and now I control them as well. Its like gaining a follower but they operate on the same controller. How would I go about this?