I can think of one counter example: In Death Trash, there’s an escort quest, where you have to guide a blind guy with a shot gun through some kind of factory. He’s as much of a liability is the devs could make him, running in and shooting blindly in all directions as soon as a combat encounter starts. It kinda turns the whole thing into a mission where the challenge is to defeat the enemies before the person you’re escorting gets a chance to kill you both. (I guess that’s what all the bad escort missions also boil down to, but in this case it’s very explicit, which makes it funny.) They also kept it quite short and do it only once, so it works out. Still, it’s the only escort quest I’ve ever done, that I’ve actually liked.