In classical Chinese, does 從 always imply the follower is lower in rank?
in the book “殷周金文集成”, the entry 04030,
my best understanding of 从 in the 5th column:
engaged in (从) the commanding (司) [of] the royal court (王家), outside and inside (外內)
the structure of “从司” is similar to “從事”, or “從政”; that “从” means “engaged in, enter, become”. it does not have the meaning of “follow” here.


edited. if 從 (u+5f9e) is allowed, in lieu of 从 (u+4ece); then, in the book of rites (禮記), the chapter 曾子問 has the text:

孔子曰・大宰・大宗・從大祝而告於禰

in the same book, the chapter 曲禮下:

天子建天官・先六大・曰大宰・大宗・大史・大祝・大士・大卜・典司六典

roughly, it means:

Confucius said, 'The Grand minister and the Grand master of the ancestral temple will follow the Grand officer of prayer, and announce the fact before the spirit tablet (of the deceased ruler)

that, the grand minister (大宰), the grand master of the ancestral temple (大宗) were the no 1 &amp; no 2 in 周 dynasty
the grand  officer of prayer (大祝) is the no 4
so, under specified circumstance, the no1 &amp; no2 official would follow (從) a lower ranking official (the no4) to a particular place.
https://ctext.org/dictionary.pl?if=gb&amp;id=59684
https://ctext.org/dictionary.pl?if=gb&amp;id=9558

edited again.

Are there any cases where the object of 從 did not display such superiority or any superiority altogether?

well, in the book 莊子, chapter 德充符:

魯有兀者王駘，從之遊者，與仲尼相若

roughly, it means:

In Lu there was a Wang Tai who had lost both his feet; while his disciples who followed and went about with him, were as numerous as those of confucius.

that, in ancient time, disabled persons were treated as inferior. in this case, mr 王’s disciples were numerous, that, we ought to assume that most, if not all of them are able-bodied.
so, the “從” in here does not infer superiority.
https://ctext.org/dictionary.pl?if=gb&amp;id=2748
another case is in the same book, chapter 達生:

孔子觀於呂梁，縣水三十仞，流沫四十里，黿鼉魚龞之所不能游也。見一丈夫游之，以為有苦而欲死也，使弟子並流而拯之。數百步而出，被髮行歌而游於塘下。孔子從而問焉

roughly, it means:

Confucius was looking at the cataract near the gorge of Lu, which fell a height of 240 cubits, and the spray of which floated a distance of forty li (producing a turbulence) in which no tortoise, gavial, fish, or turtle could play. He saw, however, an old man swimming about in it, as if he had sustained some great calamity, and wished to end his life. Confucius made his disciples hasten along the stream to rescue the man; and by the time they had gone several hundred paces, he was walking along singing, with his hair dishevelled, and enjoying himself at the foot of the embankment. Confucius followed and asked him

i think this example is clear, that the “從” doesn’t not display any superiority.
have fun :)
https://ctext.org/dictionary.pl?if=gb&amp;id=2847#s10042177