Modify the 'unsummon' script to check to see if your Animal Companion is 100% health.
If it returns [TRUE] then the 'unsummon' resets the 'summon' so you can recall your companion.
That way you can freely unsummon your companion if you are about to server-jump, or maybe even temporarily enter/pass thru a settlement... only to re-summon on the otherside without needing to REST to reset your animal companion summon.
Requiring the condition of 100% health of Companion will put the Kai-bosh on unsummoning your companion during a combat to save it from dying, so you can ressummon it later in the combat.
Your companion MUST be 100% healthy in order for this feature to activate.
-if the code doesn't allow the specific 'unsummon' to be modified, I would gladly give up a small square of my inventory for a non-drop item that enabled this feature.
Unsummon/Resummon Animal Companion
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Unsummon/Resummon Animal Companion
-Unit of beauty required to launch one ship = 1 milihelen