Write down your XP and gold, unequip all your items, move somewhere where the enemies are tough enough to kill your PC and let your toon die. Use the respawn option rather than reloading. Your henchie should be back to status quo again. If you lost XP and/or gold, use the console to adjust back to the pre-death level. If this doesn't work, you'll need to reload a save prior to the anomaly.
Typically, players have problems with henchies if they try to dismiss them without using the dialogue. Avoid that method like the plague you are trying to cure.
'>
