The Mature Animal Companion feat for Rangers (CRB p173) is really ambigious:
If you have the Hunt Prey action, your animal companion assaults the prey even without your orders. During an encounter, even if you don’t use the Command an Animal action, your animal companion can still use 1 action that round on your turn to Stride toward or Strike your prey.
It makes a lot more sense with use instead of have, otherwise I might not even have a Prey for it to Strike.
But in that case, next round, when the Prey is still alive, will my Animal Companion just stand around?