Hi and welcome to the forum.
Your idea is certainly possible with playmaker.
Many far more conplextasks have been achieved with it. You may need to sit through some unrelated tutorials and then when you have some basic knowledge you just try to put it together. If you have any specific issues doing it, then someone can help you out.
That is because there are loads of ways to do it.
For example if you make one character just controlled with a regular controller, you could have a navmesh agent on the other character following one of a number of objects that are parented to the first character. So when you tap, the second character goes to the child object that is far away from the first character- if you tap again, the character returns to the child object next to the first character.
But as i said there are many ways to do it, just sit through some tutorials until you understand some basic logic and develop an idea of how to make the basics of movement and such, then work on your dual character system. Then when you have a half working system, you can ask more specific questions and we can provide more appropriate help to your setup.
Good luck with it, it can be annoying to learn the basics when you have a great idea you want to get to, but learning is a big part of making anything
.