Tasha's Cauldron of Everything contains an alternative class feature for the Beast Master ranger that replaces the Ranger's Companion feature (PHB, p. 93). The description of the new Primal Companion feature says, in part (TCoE, p. 61):
In combat, the beast acts during your turn. It can move and use its reaction on its own, but the only action it takes is the Dodge action, unless you take a bonus action on your turn to command it to take another action.
Does this just mean that I can decide who gets to take their whole turn first (me or the primal beast)?
Or do I "share" my turn with my companion?
If so: if I did ride on my companion, could I do something like the following?
- My companion uses the first half of its movement to get to the enemy
- Then my companion attacks
- Then I attack
- Then my companion uses the second half of its movement to move away from the enemy