Simply put, I don't see any way to gauge how much health a follower has so I know when to heal them. In Oblivion, a health bar showed up when you placed the crosshair on either an enemy or an ally, why would they leave this out?
How to see the follower’s health
the-elder-scrolls-v-skyrim
Best Answer
Their health bar will show up only when you are in combat. Specifically, you and your follower need at least to hit an enemy or receive some damage for it to work.