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You can raise your bond by completing missions with him and using him in tandem with your strategies and attacks. If you see a lone enemy bring up the command menu for instance and tell him to keep an enemy busy, he run to the enemy at the center of the screen, the nearest enemy or simply the enemy you're aiming at, bite down on their arm and keep them busy for about 7 seconds, at which point you should run up and CQC take down said enemy or grab them and question them before putting them to sleep or stabbing them in the throat
If you manage to extract an Electrospinning Specialist at some point you will able to craft a Sneaking Suit for Diamond Dog and equp him with a knife, you then unlock the order to issue the "Do it (Kill Enemy)" Command and that can be pretty useful.
Whenever I try to stun someone down on the floor, his pathfinding AI happens to run straight into it so bond decreases, and D Dog spends the next 10 minutes whining.
This bug makes him totally unusable because everytime you're laying in the grass a few meters away from an enemy unnoticed in "stealth prone" and ddog decides to trot on by and lay down next to you, despite ordering him to wait, the guard will turn to face him and "shoo" him away and him facing your direction will then be enough to get yourself spotted. Again, absolutely game breaking mechanic, I have no choice but to use Quiet and have her scout out the area for me. Oh and I might add, not being able to have ddog wait also makes the bark command useless as well.
You aren't suppose to be that close to the enemies. I know the grass is hiding you, but the AI isn't that stupid in programming sense. I might disagree with the AI reaction to Rocket Punch during Combat mode but that just me.
Whoever thought "follow this guard around for 3 years and listen to his incessant chatter" for like 8 different missions is a cruel person.
And game breaking was harsh to say, still stand by ddog being completely unusable since it ruins your stealth, such a shame because he had the most potential for stealth and infiltration support.