I know it's never the favored solution vs part of the game, but... there's a mod that does this.

Reclaimed Draugr villages populate with villagers and sometimes guards. There are towers in the wild with Dwarf or Elf defenders. Some just wandering the wilds. All friendly and attack enemies. You can make them follow you. Pretty much everything you are asking for.

https://www.nexusmods.com/valheim/mods/1363