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not sure it is called out but looking at the minion trait I would think it is a separate creature and would not get your multi attack penalty
minion (trait) Minions are creatures that directly serve another creature. A creature with this trait can use only 2 actions per turn and can’t use reactions. Your minion acts on your turn in combat, once per turn, when you spend an action to issue it commands. For an animal companion, you Command an Animal; for a minion that’s a spell or magic item effect, like a summoned minion, you Sustain a Spell or Sustain
an Activation; if not otherwise specified, you issue a verbal command, a single action with the auditory and concentrate traits. If given no commands, minions use no actions except to defend themselves or to escape obvious harm. If left unattended for long enough, typically 1 minute, mindless minions usually don’t act, animals follow their instincts, and sapient minions act how they please.
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It does not get your penalty UNLESS it is a mount
CRB page 478 is where this is discussed...just for reference
Mounted Attacks
You and your mount fight as a unit. Consequently, you
share a multiple attack penalty. For example, if you Strike
and then Command an Animal to have your mount Strike,
your mount’s attack takes a –5 multiple attack penalty.
Oh snap! I just told my players that animal companions and their masters share multiple attack penalties!
I was wrong then? It's only for mounts?
The lack of the mount trait prevents an animal companion from carrying a rider and using its Support benefit in the same turn.
Take a look at the Support benefits. You may notice that the horse is the only animal companion whose Support benefit is geared towards helping out its rider in combat. For most other animal companions, that benefit is geared towards making its own attacks -- in other words, something that works much better if it is not carrying a rider.
If your the GM Aservan you could always make a ranger/druid feat that gives the animal companion the mount trait and reduce the negative for MAP by 5 for the mount for one action. That doesn't seem too powerful to me.
It is.
It takes more than that to break the game thankfully, but getting Mount & giving it an effective +5 to its attack is too powerful. For a feat, not for what the game can handle.The easy answer is to make it two feats:
1. Mount plus some modest bonus. Given PF1, maybe a +1 circumstance to your mount's AC while ridden or a Reaction you get to give +2.
2. The no-MAP feat for one attack. (Still more powerful than normal.)
Paizo will probably create some tricky combo action where you and the mount attack at the same MAP (perhaps vs. the same person), but it counts as two attacks for future MAP.
Or maybe one where the mount gets to attack as part of your attack action (to alleviate action economy issues), but still has bad MAP.
If there's an Archetype for all of this, it'll lead toward that sort of stuff: specific action sequences that blend your actions w/ the mount's for action efficiency. Pure bonuses like counteracting MAP will be rare, and even then tied to some specific action, not all Strikes.
I think.
So there might be a feat where your mount gets 3 actions, all to Stride, while you get an attack action at the end w/ bonus damage (likely +1/weapon die, which seems about the average one can expect). So an abnormal set of actions opens up, and with a bonus too.