If you do at least 51% of the damage, you don't lose xp to your pet.
Your solution of making a melee char to avoid xp loss is absolutely retarded. You said you only want to solo, so instead of sometimes missing xp when you can't do 51% of the damage, you think you'll have more fun sitting around on a naked warrior killing one mob every 5-10 minutes?
The penalty is there because you can do so much more than non-pet classes, without putting in any effort at all.
It's there to encourage you to actually participate in the fight and not just afk guard your pet in the middle of a bunch of light blues.
At level 6 you don't have to resources to always do 51% of the damage, but if you actually spent some time playing, you would realize this will stop being an issue very soon.
If you like your class and you like playing the game, I don't know why you're spending so much time staring at your xp bar.
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You only lose when you stop having fun. Work on it.
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