other than the occasional quest we really don't interact much with our heir at all. He's got maybe 3 or 4 dialog options when you talk to him. After the 7 year old quest it feels like you should be able to take him out hunting. Even if he had a limited range he could stray from the village. I feel like you'd have a more immersed experience with your heir if there was any sort of exploring you could do with him. Otherwise he just sits around the village for years doing not much only to suddenly take your place later.
#Let my heir follow me on hunts
fervent musk
ornate pasture
There is a hunting quest with/for the heir. It's already in the game.
fervent musk
I don't really mean a single quest though. Those are pretty far and few in between. I mean more like a follower apprentice sort of deal you can turn on and off.
rotund vigil
Or any villager to accompany you when exploring or whatever. added protection from the wild beasts!