I'm sorry but these responses are all incorrect, when in primals you should already know where the party and your pet should be. You should use the position command to place it out of the ways of feathers, plumes, landslides, and other abilities. Wish I could find a video to show you.... but I'm unable to. You will need to get used to this movement command for T5 and future content I'm sure so use this as the primary method for placing your pet.