Surely the easiest way is:
1. Target your pet
2. Type '/pet health' and spam it a few times ensuring you cover a server tick
3. This should tell you how what percentage your pet HP has gone up in that tick (to two decimal places) - for those pets where regen per tick is known, you can now calculate total HP.
4. Or, cast your heal (or have someone heal the pet), and again, keep spamming the chat window with /pet health - again, you will see what percentage increase the heal gave you. Simple maths should enable you to work out the total HP.
Notes:
You must use the chat window to keep spamming, if you have /pet health on a macro, you won't be able to click it when casting. You can however keep hitting SHIFT+UP ARROW to select the last command and then press ENTER.
/pet health works on charmed pets too, so any pet class / charm class should be able to do this.
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