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The equation for vanilla fear think it uses is
> if (!IsPC && hp < MaxHP / 5 && Evalue(423) <= 0 && dmg * 100 / MaxHP + 10 > EClass.rnd(IsPowerful ? 400 : 150) && !HasCondition<ConFear>())
So, for non-players, where their hp < maxHP/5, some Evalue thing which is about having Negate Fear, and some math probably to make so they run from powerful creatures quicker with some randomness (rnd).
Making this more balanced for allies in general is a bit of a challenge. I'll give allies a dialogue option to discuss how risk-taking they should be, with some different presets. Should also add a factor for how far away you are, so if you're running or they chased monsters into a room then they are more likely to run.
Essentially, since this seems feasible with what I know, I'll try my hand at it.
So it was possible of you do code the companion AI to do so? Any chance you could make a variation where the pet flees but isn't unkillable? I just want their AI to be a little more careful and aware.