Update:
I decided to have fun and went through what would happen if we assume the Newtonian limit for a cosmological constant, and no other forces acting on the object. In this case, the object would obey the following differential equation:
$$\ddot{d} = {\Lambda \over 3} d$$
This is based on
https://arxiv.org/abs/gr-qc/0004037
Now, if we're simply assuming a universe with only a cosmological constant, the Hubble parameter is a constant:
$$H^2 = {\Lambda \over 3}$$
So we can write:
$$\ddot{d} = H_0^2 d$$
As this is a linear differential equation, a sum of solutions is also a solution. We can see pretty easily by inspection that ##d(t) = c_1 e^{H_0 t}## and ##d(t) = c_2 e^{-H_0 t}## are both valid solutions. As a second-order differential equation, only two solutions are possible, so the sum of these two fully-defines possible motions. Initial conditions determine the rest. Thus the general formula for an inertial object in a universe dominated by a cosmological constant is:
$$d(t) = c_1 e^{H_0 t} + c_2 e^{-H_0 t}$$
The above formula must also work for co-moving objects, which follow the equation:
$$d(t) = d_0 a(t)= d_0 e^{H_0 t}$$
This is indeed a possible form of the general solution above.
If we now consider an inertial object moving past the origin, such that ##d(0) = 0## and ##\dot{d}(0) = v_0##, then it's possible to do a bit of math to show that the following solution fits:
$$d(t) = {v_0 \over 2 H_0}\left(e^{H_0 t} - e^{-H_0 t}\right)$$
As time increases, the second term will decrease, eventually approaching the path of a co-moving observer which starts at ##d_0 = v_0/2H_0##. The rate of convergence depends upon the rate of expansion: faster expansion = faster convergence.