The follower died and her dead body follows me instead

So it actually seems to be not "unique", since it was encountered at least once in the exact same configuration by someone here. As in my case, there was the same combination of mammoth + dragon attack.

The elder scrolls wikia also mentions the bug of Skjor coming back, dead and clipping through objects.

Companions were also seen wandering far from their place here and here.

So my guess is: it might be implemented in the game that Companions go at random places in Skyrim to hunt big hunts (after all, they are supposed to be the mightiest warriors). Maybe it is triggered by becoming a Harbinger, maybe not (would need other conclusive proof).

Skjör seems to come back often, it might have happened in my game without me realizing. It seems to happen to Kodlak too from time to time. Being close, Njada followed and helped them too.

Both her and Skjör joining might be an effect of the CompanionFactionMinusBrillAndVignar faction. This faction thing could actually be the reason behind Skjör and Kodlak "resurrecting"

Edit: video of the bug happening: here and one with a variant here

You could use a calm spell to get them to stop fighting and fast travel away. They should chill out after a few in-game days have passed without them seeing each other. Alternatively, if you have an entrance to a different cell nearby (indoors -> outdoors, one dungeon level -> different dungeon level, etc), you could try going through and fast traveling before the NPC can give chase. The safest bet is to reload to an earlier save, though.