I thought this was actually happening in Heavensward too, I also remember a remark about having them loiter around your personal home. You could use the current resistances from the current pets (smn/sch) so that dodging aoe's aren't a major problem.

Though things like moving aiatar outside of poison puddles, breaking bubbles, killing adds and coincounter's aoe's, I do find would be difficult without manual instruction which either mean taking them out from the solo version of the dungeon or giving the player a "npc party" hotbar.