I use Derkeethus and he is NOT annoying.
He keeps his distance.
Follows the same path as you most of the time (FYI: if you take a path around a trap trigger, he follows it so he stays off traps like you).
His sneak is quite high (I caught him using the higher leveled perks in sneak). This also doesn't count enchanting his boots, like I did.
He is a good shot with bows and a good shot with magic (if given staves).
He is very quiet (rarely says much unless I provoke him to speak).
He's essential so no worries about him dying or losing him (essential characters teleports to you when changing cells. Non-essentials do not, it seems).
He doesn't attack unless he is spotted (so both you and him can sneak around the enemy just fine. Done it b4 myself plenty of times).
etc...
Now as for followers I did found annoying... Serana and her resurrection spells. Lydia. Barbas. Etc. A lot of obvious ones.