Jester David
Hero
Looks cool.Mindlink (replaces level 7 ability)
At 7th level, you can use your action and expend a 2nd level spell slot to jump inside the mind of your beast companion within 60 ft. You can use your beast companion's senses. You can also telepathically give it commands as with the Ranger's Companion ability. This lasts as long as you can concentrate, up to 1 minute.
Expending a 3rd level spell slot increases the range to 1 mile and the duration to 1 hour.
Expending a 4th level spell slot increases the range to 10 miles and the duration to 1 day.
I might increase the duration to 10 minutes for a 2nd level spell slot. Or have 1 minute be the 1st level slot option, which is still a steep price to ask.