I’m not sure if there’s a way for you to increase minion regen specifically when they’re out of combat but it took over a minute for my bear to regen from near dead to full health. I imagine that having too much regen in combat would be a balance issue, but out of combat it’s just a question of how long do I wait before I resummon.
It would be nice if they got a massive regen boost after not taking damage for a few seconds; otherwise I’m just going to go through the hassle of removing the skill from my bar and putting it back so I can resummon.
In that minute I probably could have resummoned it at least 10 times (which is what I generally do but I wanted to time it). The tooltip on bear says it’s a high health, high regen minion.
I do have some minion regen on gear, although only 51%. It feels like a largely wasted stat given that I can just resummon them. And given the rate at which it regenerated having that regen stat on all my gear still wouldn’t have been as fast as resummoning it.