Now I don't have PetPal so unless I want to wait until level 4 I'll have to go and pick up Ifan and go through every class and see if any of them offer it.
Wayfarer does, but there is currently a bug where it doesn't actually work on recruited companions (didn't check learning it at level 4 on a companion).
Petpal does work if a companion learns it at level 4.
There is another a bug where if you pick up companion after level 4 you don't get the talent point to spend (or any other point come to that) unless you pick their default class.
So unless you want default class you must recruit companions at the start.