Is it possible to have your henchman identify items for you? My character has a really low lore value and INT score. I hate having to head back to the Tyr temple to identify things.

No, they can't.

Any shopkeeper can identify items afaik, so you don't need to keep on heading back to the temple of Tyr. Also, there are numerous potions of Lore throughout the game which can help boost that ability.