OK this appears to be a result of lack of developer knowledge of how bards function as it matches what used to happen on live. Because of how bard songs work, bards are almost always in the state that spellcasters would describe as "casting." We spend almost all of our time with either a song running or a new song starting and both of these states would be considered "casting" if we were mana pool spell casters. Because bards rely on being in this constant state of "casting" most of the spellcasting restrictions other classes have are just not applicable to bards and many of these restrictions would outright break the class. I remember a particularly bad patch in live where some dev decided the exception that allows bards to melee while "casting" wasn't needed and all of a sudden every bard was unable to attack mobs unless no songs were being played.
Issuing pet commands while casting is just one of many restrictions that normal casters have that bards should not. It appears some dev saw the bard code, decided there shouldn't be an exception that allows bards to issue pet commands while "casting" and took it out without realizing that the way the bard class works, they are ALWAYS "casting" and thus most restrictions on what you can do while casting would literally break the class if applied to bards.
I was able to test this and confirm that yes, pet commands from both the pet window and /pet do x are currently broken and do not work for bards while a song is running or a new song is being started. It appears the OP failed to notice this because in the confusion of commands not working, I too was trying to figure out why and it wasn't until the way charm works, if left running on a pet the 2nd "tick" will stop the song, taking the bard out of the "casting" state and making it so pet commands work.
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