if i am a ranger and I has a Mature Animal Companion feat.May I select druid’s Mature Animal Companion to pet have two free action.
The short answer is no. The longer answer is no because the feats are balanced around working with different classes.
The Ranger's mature animal companion works with their Hunt Prey action, while the Druid get's their mature animal companion earlier.
If you took the Druid Archetype however, you could take the Mature Animal Companion druid feat at 8th level using "Advanced Wildling". This should not stack with your Ranger version of the feat however. You would have to work out with your GM how that combination would work.
if i am a ranger and I has a Mature Animal Companion feat.May I select druid’s Mature Animal Companion to pet have two free action.
Sure, you can take that feat if you want, but it won't do anything. The feet specifies that it gets exactly 1 free action per turn. So even if you take it twice it would still only get one free action not one additional free action. Becoming mature twice also wouldn't do anything special as becoming mature is a fixed status.