Since most players with animal companions use them mostly for scouting, how about a elemental communion ability or natural scrying (say, in a pool of water, for example) that allows a character to get some of the same questions a scout would answer answered? Admittedly, it couldn't fight in combat like a companion, but that seems somewhat balanced by it not being able to cause penalties when dying. Maybe improve Wild Shape a wee little, too, to finish the balance?