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EDIT: currently there is no way to switch that off without switching weapon.
I found workaround where if you want to set run multiple character at once without the blue sphere and the green point:
1. Disable AI
2. Spawn Main NPCs
3. Spawn 1 Extra NPC on the 180 degrees from scene.
4. Use tool on all those NPCs which you want to have on scene.
5. Use tool on the 1 extra NPC which is 180 degrees from your shot.
6. Enable AI.
Since the extra NPC is out of camera, it is also the last one which was marked so the blue sphere is on the NPC and is not visible on camera/shot .
The blue sphere is however visible through terrain so the 1 extra NPC have to be always outside of shot and not just hidden in some room.