Late answer, but följa (in contexts like '[person] to [place]') means like 'walk someone somewhere', except not necessarily by walking – you go with them to the goal and leave them there. But följa med means 'come with' someone somewhere – you go with them to the goal and then also spend some time there.
If the meaning is "to accompany" I'd probably say "I'll go/come home with you".
If it means making sure that the person gets home safely (without necessarily entering the house) you could say "I'll see you home" (or "I'll walk you home" if that's the means of transport involved).
"I'll follow you home" sounds either like "följa efter" (in the detective/stalker sense) or possibly in the sense of "You go home now, I'll come in a while". It could also mean that you drive behind them in another vehicle.
If you can replace 'should' with 'ought to', use borde.
ska has a strong sense of purpose/control: someone wants to do something, or someone wants someone else to do something (or not do something, of course). So if you're talking about whether someone has decided to, or intends to do something, ska works.
Jag ska arbeta 'I will work' or in some versions of English, 'I shall work'
Jag borde arbeta 'I should work'
should is only rarely a good translation for ska, and that happens mostly because of how English works.
In most kinds of contemporary English, if you ask someone about their intention to do something, shall is not a natural choice. 'Shall you work?' is something they say in old novels. In the first person plural, some people still say Shall we go and shop? (or so we're told by users) but most people would say Should we go and shop? instead. You also don't want to use will for this specific sense because then the question wouldn't just be about intention/decision anymore, it would also be about whether it is going to happen or not. So that leaves you with should as pretty much the only short way of expressing this in English, which means you'll have to translate ska with should in those cases.
Hope this helps, I've been thinking about this loosely for a while and this is about as far as I've got, there's probably more to be said about it.
This is not the usual way we would express this thought in English. It usually implies "I will go home with you." Yes, it could also be what one says if one is driving in a separate vehicle and intends to follow the first car, but it is very common to say when two people will go home together.