Tips or principles being in the field?

First of all, I'm not a US army nor any other US military service member, but rather a paramilitary volunteer force member in a Lithuania (eastern/central europe, part of NATO) and I came here to HOPEFULLY try and get advice because I can't find it anywhere online, so here goes

First, everytime we're infiltrating or on patrol with larger gaps in between troops especially in more heavily forested areas we often get lost from one another, like just I see that person walk into those bushes but when I reach the bushes I have 0 idea where they went. How do you not get lost from one another or more accurately retain a somewhat accurate idea of the formation of where everyone is and your formation? Or is it just a hope-for-the-best type of situation? (assuming at the time we don't have ATAK or any devices that allow us to see everyone on a map)

Thanks in advance