To get the stuck Boffs unstuck, I had to run back and issue a "Move to here" command, cancel it, and then they would start moving. Until they got stuck on something again.
Couldn't find a way to get dead BOffs out of the firepits except for getting killed and respawning. Wasn't a bad thing as I was playing on normal, was just a pain in the backside because it made the mission take so much longer.
Thats true, it has been bugged a while. I have only done it once and all my BoFFs immediately complained about th cold and jumped in the fire but on the good side, the mission is soloable by a TAC officer with security escort