No, they do not.
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I dont have real numbers right now, but for me its like:
-with Ifrit i will do ~20dps more than Garuda
-with Ifrit infight i myself lose ~10dps
-with Monk and War Ifrit can gain ~10dps
= with Ifrit i do usually ~15-20dps more
in fights like Turn 6/(7)/8
but yeah SE should take a closer look to Ifrit and change a few things maybe.
The overall pet control should be improved. Other Icons ....
The Egi's are really sluggish.
Titan when going solo.
Ifrit for most of dungeons or non-boss FATEs (He's actually really great against crowds).
Garuda for Bosses.
In Dungeons, if there's another SMN, I will pick Ifrit or Garuda, depending on whatever the other SMN ISN'T using.....Unless the tank(s) really suck, then I'll use Titan and micromanage that pet to death.