Not only animal companion, but you could give a potion to anybody! Like Animal Empathy... Why not?
As far as I know you can drag a potion to the portrait of anyone in your party and it will be applied to them. That includes familiars, animal companions, summoned creatures, and any npc companions.
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As far as I know you can drag a potion to the portrait of anyone in your party and it will be applied to them. That includes familiars, animal companions, summoned creatures, and any npc companions.