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No, you need to get into Sunbreak expansion then do their quests for a bit.
For any non-follower quests (but you can still bring follower after TU3), their target HP remains the same.
But they come with many other benefits, such as item usages (especially traps and heals), taking aggro, automatical wyvern riding, etc.
So for the most part, taking followers with you makes the quest much easier.
If you do want to have more of a "real" multiplayer experience, there is a mod out there that upgrades them to players. Meaning: They do real damage equal to the player (instead of downscaled one), but also increases the HP scaling of the monster based equal to the number of players that would be there.
You can also take up to three followers with you, and it even works in multiplayer (if you are hosting), for a completely savage mayhen of 7 characters and their pets cheerfully playing with their prey.
The mod's name is "Follow me!" and can be found on nexusmods.
Depending on how you play the output of Palamutes is significantly higher than just < 10%
Of course the worse the hunter's performance the "better" the pets' performance, but that doesn't change the fact that the on-paper dps is now half of what it used to be, as well as status being reduced to 1/5 of its previous value. Everyone who ran status dogs will have noticed that the amount of sleep/para procs have gone down from 2-4 to 1-2 at best after TU3.
That was my first thought as well. If that's possible to do, provided they also give you the normal buffs, it's a huge upgrade on it's own.