Pact Leader (5e Feat)
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your bond with your companions have led to better teamwork and combat efficiency
Whenever you use an action or bonus action to give a command to or control one or more creatures, you may give an identical command to a different group of creatures that would normally require an action or bonus action to command." You could also extend the phrasing to specifically include creatures under the effects of a dominate [this] spell, for the rare case where a class feature requires your action to command your minion(s) but you can also cast such a spell.