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You have the option to command your animal to join the battle on your behalf. By spending a Willpower (WP) point during your combat turn, your animal will act according to your instructions for one full round, taking its turn in the initiative order immediately after yours. Attack rolls for the animal are made as usual.

Given this, if I send my animal into close combat to target and attempt to eliminate a specific enemy, what will the animal do on its following turn? Will it withdraw from combat or persist in attacking the designated foe? . . . . . .

It only attacks if you spend WP for the rank 3 effect, other turns it will protect itself. The GM can of course rule that the animal do something else in special occasions but that is the norm.