Allow 2D character overlaps in side-scroller?

I have a player character with a rigidbody 2D, capsule collider 2D, and a player controller script. I have an ally character with a rigidbody 2D, capsule collider 2D, and an ally controller script. I want the ally character to always be standing / following behind the player character. However, currently when I try to turn around and walk to the other side of the ally character to lead them, I am colliding with them instead of passing infront of them. How can I let my player character overlap infront of my ally character so the player character can be infront no matter where I turn and run?

Set Order in layer option for the character to a higher value (e.g. Character - 2, Ally - 1) so Ally will be rendered behind the Character. Also, put them to different layers and disable collisions between those layers in Collision matrix.