Regarding Minions

What're the chances we'll ever be able to have our minions summoned while on mounts or have companions summoned? For me, minions are one of my favorite parts of the game and it's a shame that one you get far enough in the game its not really feasible to have a minion summoned instead of traveling on a mount or having your companion summoned to help you fight.
Just something I've been wondering for a while, especially since I've seen it possible on other MMOs (ESO, etc.). If this has been brought up before please let me know! I just haven't seen it mentioned in any recent Letters from the Producer or such.

All I know is that if this problem isn't solved by the time they release the Haurchefant minion, there will be rioting in the streets.

few months ago we could summon Minions and the chocobo I remember this clearly! then one patch at somepoint ruined it.. Don't even see a point of having minions if you can't have them out when you are off adventuring.