Just get a pet at level 5, and maintain 16/12 (pending on class) at all times, if possible. This (through some experimentation...) seems to increase the pet size. I've tested it with the boar and wolf, and they have appeared to be larger than all lvl20 pets of the same type.
I'm not sure if its the case of having 16 beast (as I did so with my ranger), or if it's just some random number thrown in somewhere, but it is what I have seemed to take effect.
Try it... as again I am not 100% on this.
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