I do know my necro pal who solo'd on live until 50 had to use fear even with a compliment of dots because the pet would get aggro otherwise.
Dots for sure were Venom of Snake + Blood Boil + Dooming Darkness -> pet could still get aggro off, even without taunt.
Not sure how this applies to raid mobs.
Not sure how this applies to having a pet tank for a rogue... we just never tried to do things like that.
Not sure exact threat values but it appears pets need a significant aggro boost here from my clickings around on a few chars. How much? Should it be damage based? Numbers of attacks based? Dunno that either, sorry.
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