Generally, you will want to charm a mob. Root a mob. Send them to fight each other. Break when both are low HP. Root your old pet. ES Vambraces or Nuke to kill.
Reroot the mob your pet is fighting as needed.
ES Vambraces, Haste and DS you can use as a means to even out an otherwise uneven fight. IE if your pet is 4 levels lower than what you're fighting, you can haste or DS your pet to add some damage so that when you have to break your pet they are both low HP.
Your goal is to have both mobs under 20%, or more ideally 5-10%.
Generally if I was charming for EXP I would not haste my pet. Since that can backfire on you far more than the other two options of ES Vambs and DS. If you're duoing with a cleric however, haste that pet for sure and let him CH it.
Fearing or keeping pets solo is very inefficient EXP wise. If your goal is exp you want to do what I suggest above. Have two fight, keep EM rooted, break and kill at low HP for full exp on 2 mobs.
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