Minion & Companion

I was grinding FATEs for the Yokai event, the event requires the player to summon a specific Minion.

My problem is: there are times and certain areas where I can't find other players to help me grind, sometimes I want to go solo too.

I wanted to summon my companion 'hoping it will make things easier' but it says I can't because a Minion is out :(

being able to summon a minion and have your companion out at the same time, is it difficult to implement ?

Note: ACN. SMN, and SCH are able to have their pets and companions out at the same time