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It would be horribly broken to have one animal companion that is fully upgraded, and a second one that is starting over at the beginning. You couldn't use the new one for anything.
And I don't think it would be broken to just allow the Druid companion upgrade feats to apply to the additional companions from Beastmaster.
I'm trying to find a scenario where it wouldn't be preferred to use the Beastmaster Archetype feats to upgrade the companions instead of the Druid ones and I can't come up with one that is actually a problem to fix.
The Beastmaster feats come available at the same level that the Druid feats do.
The only scenario that I can come up with is taking the Beastmaster dedication at a later level - but that is fixed by retraining. For example, instead of putting Beastmaster dedication in your 14th level feat slot, put it in in place of your level 2 feat slot, retrain the Druid companion upgrade feats to Beastmaster companion upgrade feats, and put whatever you used to have in your level 2 feat slot in as your level 14 feat choice (or some similar cascading up-level feat shuffling for entire feat chains). And for non-changing changes like this, I wouldn't require any in-game cost or downtime to make that change on your character sheet.