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for your pets : pack leader (prime) lets you heal your pets by hitting enemies with melee
https://warframe.fandom.com/wiki/Primed_Pack_Leader
Imo, just don't take sentinel on high level mission like Lich 5 mission. While your frame may survive several hits, stray bullet or AoE damage (explosion from bombard, napalm, bursas) will instantly kill them. Primed regen doesn't help much either, especially if you got downed during the gunfight where the enemy basically shift their focus to your sentinel.
Medi-pet kit seems soo... Underwhelming?
Link armor/Health works good with Valk, sure. Who is also a melee frame and works well for the pack leader mod too.
But... Again. What if I DON'T use the meta frames and/or melee? There are seriously no other ways other than that?
Now if I could just get this stupid ambulatory parking meter to hack terminals when I need him to instead of when he feels like it, he'd be perfect.
Pets: As has already been said Link Stat mods and Pack Leader. Even on a squish frame any two of the Link Stat mods are alot better than nothing. Healing is also essential and Pack Leader is the main way to accomplish this.
There are several things that I have not seen suggested yet. The Shepherd Aura mod increases the armor and HP of companions. I've started taking my Smeeta into arbitrations with my 300 hp 100 armor Volt Prime without issue because of this mod. The cat ends up with around 1100 hp and 340 armor. (Using link mods as well)
The Winds of Purity augment on the Furis will heal your companion as well if you are going for a shooty playstyle that rarely goes into melee. Properly modded the Furis will do enough damage to be a good healing tool even if it won't kill much past star chart levels.
Gunblades can also activate Pack Leader from a distance. This is also a way to heal yourself with Life Strike.
If you use a dog the Kavasa Prime collar gives some hp and armor buffs.
And if you still can't keep your pet alive I would suggest bleedout mods so that you can afford to revive your pet every full minute instead of every half.