There is no way to put it simply, pets are very overpowered, and make it so people can blatantly rush to whatever they want with very little to fear.
One way I think they could be balanced is they only activate heal and mp heal abilities when your character is standing still, so that way someone could stand back in a dungeon and heal up before continuing, and it wouldn’t take as long as if they had no pet. obviously, this is too much of a nerf, but if heal and mp heal were to restore more health and mana while the character is not moving then it would (I think) balance out. As a side note it also might be necessary to have the character standing still for a full second or two before the pet actually started healing.
This would make the game more challenging again, and possibly stop bosses from getting plowed over as easily as before. Feel free to comment because I am genuinely curious to see how many agree or disagree with me, and how my idea could change to make it better.