Sadly that's not the case for me. When this happened, I hadn't carried anyone, save for the bug already being present, and I tried carrying them out mannually. Safe to say, it did not work.
I figured out how to get modding up and running for this - I made a BattleCameraFix mod that should prevent this from happening regardless of the reason it's happening by just... not checking the defender position at all, if it's bothersome enough for you to want a temp fix. If you're interested, here's the gitlab where i'm keeping everything - start with Installation, which will walk you through injecting oxide and patching in the hooks the mods need, then the mods folder for the specific mod
https://gitlab.com/underfelt/indie-nsfw-mods/-/tree/main/DungeonKeepHer
I know this is quite an old post but maybe it will help somebody. I have figured out how to bring the character back. (In my case it was the keeper)
Go to your save and find your character, then find their coordinates+rotation, and replace them with the desired ones (you can get them from another character or from an old save) then find the old ones in the save again and replace those too. (Keep in mind that i did not try it for servants.) If you need more details you can ask, there is a non zero chance that i might see it