It's based on the % of total damage done by valid characters.
When you uncharm the total damage is reset. If you nuke for 20 damage, you have done 100% damage and get 100% xp.
If you recharm the same pet, it hits the mob for 11, and you hit it for 9, you have done less than 50% of the new total damage, so you get 50% xp.
If you recharm the same pet, you hit it for 11, and the pet hits it for 9, you have done more than 50% of the new total damage, so you get 100% xp.
Basically recharming the pet to kill is like giving it the killing blow you were doing before, so it does not benefit you.
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