So, if this already exists, please feel free to delete. I couldn't for the life of me find a tutorial for this. It took a few hours to figure out, so I'm hoping to save the next poor soul the trouble.
EDIT: I figured out how to keep the party on the map and make this whole process more simplistic! Using TYR_Followercontrol instead of Hime party followers, makes things a little easier and keeps all party members on the menu, sooo no need to disable the menu, yay!!! (sorry Hime, I still love you though, seriously)