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To that I would say you can search "you can also" in PHB pdf and the only example I can find where there is a discrepancy about whether you can do both is the primal beast companion rule out of 50 examples. I see what you are saying grammatically but this is a rule and no where does it say at...

I think if we go by Jeremy Crawfords explanation that the beast has a turn in the initiative order directly after the ranger it would then be using its reaction if you sacrifice an attack to command it to attack during the rangers turn, same as the fighters maneuver that allows them to sacrifice...