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UPDATE #2: After going around that loop to Templebrough for again, the dog made it back to the river crossing right before Birgantia. I found that if you walk around the dog a few times and even a little bit ahead of him toward where you want to go, it kinda of updates the game in a way. Kind of like giving the AI kick in the butt if you will. Once he found the path after going through that archway you start at with the dead ally scout, he makes it to Petuaria in the end. So have a little patience and see if you can almost guide the do towards the ruins and it may help. I hope this helps anyone else who happened across this bug!
UPDATE: the dog swam all the way down to TEMPLEBROUGH FORT and tweaked each time I was seen by an enemy. (So I had to kill all of them) he went in circles some more before finding a road and going all the way up through Donecastre until getting to the Humbre river crossing. Unfortunately he didn’t cross the river at the crossing, proceeded to get into the river, and started swimming down the Trent again....smh
I’m currently on that mission now and the dog took me down the Trent river all the way past Fiscartun. I’m not sure where he’s gonna stop or turnaround since apparently the destination we’re supposed to go to is the Petuaria Ruins. When he first kept circling around in the area left of Temple of Brigantia i thought something was up and then he kept swimming down the Trent lmao