Formal:
* Accompanying: Implies a less formal, more casual presence alongside someone.
* Guiding: Suggests leading someone through a place or process.
* Attending: Focuses on being present with someone, often for a specific event.
* Seeing someone to: Indicates a specific destination, often emphasizing the act of delivering someone safely.
Informal:
* Walking someone out: This implies a friendly and casual escort.
* Showing someone around: Focuses on guiding someone through a place.
* Tagging along with: Suggests joining someone on a journey.
* Going with: A more casual way of indicating accompanying someone.
Other:
* Convoy: Used for escorting vehicles, ships, or groups of people.
* Protecting: If the escort is for safety purposes.
* Supervising: If the escort is for monitoring purposes.
The best synonym will depend on the specific situation and the relationship between the individuals involved.