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Eidolon

Source Ultimate Campaign pg. 145
An eidolon has the same mystery as a cohort, except its origins are far weirder. It might have been linked to another summoner before its bond with you. It might be a natural creature altered by planar energies and banished to a far realm, or a former adventurer lost in a disastrous mission to an unknown plane. If it resembles a more conventional planar monster (such as an archon, a dretch, or an elemental), it might have been accidentally summoned or called by a sloppy spellcaster and could have some familiarity with other people in the world. Though an eidolon’s soul is strongly tied to its summoner, it has an existence in another world when it is away, and in that world it might be a bully, champion, or slave. How it reacts to things during its limited time on the Material Plane is influenced by its unknown past and secret life.

An eidolon always has the appearance of a fantastical creature, and attracts as much attention as any unfamiliar animal would. Fortunately for you, you can send the eidolon away to its extraplanar home, allowing you to do business in town and move about normally without drawing unwanted attention. However, if you call the eidolon in an emergency without warning the local authorities, townsfolk might assume it is a marauding monster bent on tearing them limb from limb, requiring hasty explanations and diplomacy to prevent panic.

Archives of Nethys

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Eidolon