I thought the usual routine was...
A) Your pet is losing the fight towards the end, so at the last bit you root the enemy if it's not rooted, get your pet off of it, DoT the target, break charm, DoT your former pet, med to full.
B) Your pet is winning the fight. To keep the health bars close to even, you constantly "/pet sit" to make your pet sit and get Crit hit by the enemy, then do the above once the fight is nearly done.
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