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There is a Legacy version here.

Mature Animal Companion (Ranger) Feat 6

Ranger
Source Player Core pg. 159 ^2.0
Archetype Wylderheart
Prerequisites Animal Companion

Your animal companion becomes a mature animal companion and gains additional capabilities.

Your animal companion has greater independence. During an encounter, even if you don’t use the Command an Animal action, your animal companion can still use 1 action that round on your turn to Stride or Strike. It can do this at any point during your turn, as long as you aren’t currently taking an action. If it does, that’s all the actions it gets that round—you can’t Command it later.

Archetype Use

This feat can be used for one or more Archetypes in addition to the listed Classes. When selected this way, the feat is not considered to have its class traits.

Mature Animal Companion (Ranger) Leads To...

Incredible Companion (Ranger)