I'm trying to get as much use out of the Halfling Ranger/Pteranodon strategy as I can, so I'm trying to use it as an independent mount while also being able to give it commands. I'm playing this character in AL, so only RAW/officially published sources.
From Controlling a Mount(PHB pg. 198):
An independent mount retains its place in the initiative order. Bearing a rider puts no restrictions on the actions the mount can take, and it moves and acts as it wishes. It might flee from combat, rush to attack and devour a badly injured foe, or otherwise act against your wishes.
From Ranger's Companion(PHB pg. 93):
The beast obeys your commands as best as it can. On your turn, you can verbally command the beast where to move (no action required by you). You can use your action to verbally command it to take the Attack, Dash, Disengage, Dodge, or Help action.
Based on these two rules segments, I don't see any reason why I can't let my companion act independently while also giving it commands. That feels really durdely to me, however. Many people have pointed out the spell Beast Bond as a way to get around the controlled vs. independent mount issue by establishing a telepathic connection so you can always command it.
If it really does work then does that mean any telepathic connection, such as The Great Old One Pact, will also allow control over an independent Ranger mount?