As a Druid, you can take both the Wild Order (gaining Wild Shape) and the Animal Order (gaining an Animal Companion) via Order Explorer (Druid Feat 2). To be most effective, you would likely wish to change into a battle form and fight alongside your companion. However...
According to the Animal Companion rules:
Your animal companion has the minion trait, and it gains 2 actions during your turn if you use the Command an Animal action to command it
Auditory actions and effects rely on sound. An action with the auditory trait can be successfully performed only if the creature using the action can speak or otherwise produce the required sounds.
And according to the Polymorph trait (which is on all Wild Shape spells):
Unless otherwise noted, the battle form prevents you from casting spells, speaking, and using most manipulate actions that require hands.
From this, it appears that if you change into an animal form, you can't effectively command your animal companion. However, Auditory doesn't specify that you have to speak, only "produce the required sounds".
So, can you consider your animal trained to take commands in various grunts and growls from your animal forms, or are you forever gimped into only using one or the other feature (barring special forms like Thousand Faces which isn't considered a battle form, and thus not subject to the restrictions)?