If you’re sick and tired of waiting around and resting so your companion heals up, then this FORCE Junkies, SWTOR, Pro-Tip is just for you. When you mount up and summon your vehicle your companion is instantly healed. This tip is great for players who play a healing or dps role where their companion takes the brunt of the damage. By mounting up and immediately dismounting (as long as you “poof” onto your vehicle) your companion will be at full health.
If you are not yet high enough level or too broke to have a vehicle then dismissing and re-summoning your companion does the same thing, though this method takes just a bit longer.