1. You select a town, switch to the Garrison tab, place your army, and in the GarrisonHero tab, place the garrison hero. In the script, you write:
EnableHeroAI('hero name', nil);
2. You need to set a trigger for this action. Something like this:
function func(parameter)
SetObjectPosition('enemy hero name for teleportation', coordinates);
MoveHeroRealTime('this hero', town coordinates);
Trigger(action code, additional parameters, nil);
Trigger(same, but for a duration);
end;
Trigger(action code, additional parameters, func);
I can elaborate further if you provide more details about the goal.
---------

How does such a script look in general?

PlayObjectAnimation('monster name', 'move', IDLE);
If it involves rotations, there might be problems... The issue now lies with SetObjectPosition; it theoretically can rotate, but as I clarified, changing the teleportation effect (which we need to eliminate!) only works in 3.1 and only applies to heroes, so I'm not even sure.