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You can just open your inventory, go to the Followers tab on top and click the little eye icon next to the one you want to see on the map. That's all.
As for the other stuff, I just use my own mods, simple minimap (doesn't show thralls if that's what you meant, I believe no mod does that, but it does show POIs) and what does help with this issue is proximity party, which WILL show your nearby thralls in a health-bar list ordered by proximity.