So, if I cast a spell that summons me a minion, not an animal, the rules say that I have to spend an action to command it. The rules say that, for non-animals, you sustain a spell or activation. Then they say that, unless specified, you issue a command with the auditory and concentrate traits.
My doubt is, suppose it is the second turn after casting the spell, do I have to spend an action to concentrate and then another action to command the creautre or item, or does the action to sustain the spell already count as commanding the minion?
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The action to sustain the spell counts as commanding a minion for summons.