Summon + charm break happens at the same time because your former pet is no longer on the mob's aggro list, so you instantly become the highest aggro target and if you are out of melee range you will be summoned. I actually take being summoned as a great indicator that charm broke. If you keep the mob you're trying to kill rooted you will never be summoned by the mob you're killing unless your pet's charm breaks.
Best way to deal with it I've found is to immediately stun + AE mez then recover from there. This only works if your pet doesn't have a dot on it...the best way in that scenario is to use color slant + clicky + allure on your pet, and it's much less reliable this way. There is definitely time to slant + allure if you use a clicky to reset global time and start casting allure immediately. I've had to do that several times.
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