This has got to be one of the biggest annoyances in the entire game. I've seen several mods that address this, but they all do other things that I don't really want. So I decided to create a standalone mod that specifically addresses this. As far as I know, this is just as good as the other implementations out there, and has been made in a way that should ensure compatibility with most mods.
I would recommend loading this after any combat overhauls, as they may mess with the NPCs dodging ability, which would negate this mod if loaded last.