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Dogmeat drives me crazy getting in my way, blowing stealth, and being generally annoying but being able to get out of command mode with a hotkey might make it slightly less annoying. Probably not. I'm working on shifting to wasteland wanderer since companions (in this game and FO3/NV) just get in my way.
In the middle of a fight, Dogmeat got down and while giving him a stimpak, I accidentally pressed A (XBOX) twice and the command script got stuck. Tried every button but there were always the arrows which indicates that I am in command mode. I couldn't open Pip-Boy but was able to use the light. If you encounter this, try this one
* Shoot Dogmeat until it gets down.
* I wasn't be able to give him stimpak but he automatically got up.
- Dismiss and recruit him again. (not necessary but just in case)
* Save the game and exit to main menu
* Load the save
This fixed my problem, hope this helps