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other question: will a pet get xp if it is out of range even though its owner is?
Well, companions earn their own XP, so you don't have to worry about sharing xp with them I think.
However, if you are running in a group, its better to stick around for that XP share since other player kills give your companions XP.
Companions' position has nothing to do with affinity sharing. When you receive shared affinity, your companion gets some regardless of where it is, as long as it's alive.