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PFS StandardInstinctive Support [free-action] Feat 6

Druid 
Source Player Core pg. 131 2.0
Prerequisites Animal Companion
Trigger You Cast a non-cantrip spell that targets only your animal companion

When you support your animal companion, your companion supports you in turn. After your spell takes place, your companion gains its actions for the turn, as if you Commanded it, and one of the actions must be Support. If the companion has used any other actions already, it can’t Support you, as normal.