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So to preface this... I played a game recently where I was trying out a Commander Playtest character and awarding the chronicle to a level 1 character with only a single chronicle to her name. I played it off in-game as that the brand new level 1 character calling in sick and her friend came instead. However, we got TPK'd including the playtest character dying. I've since come up with a cool concept that this character brings their buddy back as a zombie or a skeleton (or maybe a ghost) with the Specialized Training - Undead Companions boon. However, I wasn't sure how to go about it. There's some options in the Book of the Dead to get undead companions, but as far as I can tell those aren't allowed, if I'm reading correctly (maybe I'm wrong). I was thinking of possibly going Beastmaster, but that would be more like getting an undead beast. Is there a way of pulling this off mechanically? I suppose I could go with something like an Undead Eidolon for a summoner, but I feel like that might veer too far off from the character. Is there a way to pull this off? Am I missing something really obvious?

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https://paizo.com/pathfindersociety/faq
Specialized Training - Undead Companions: While some see undead as purely disposable minions, you see them as long-term allies. This character gains access to the following undead companions: ghost, skeletal mount, skeletal servant, vampiric animal, and zombie (Book of the Dead 38–39), as well as the skeletal bird of prey, skeletal constrictor, undead hand, zombie carrion bird and zombie mount (Zombie Feast 77-78). These undead companions function like animal companions in all ways, aside from the differences enumerated on page 37 of Book of the Dead. You must bring a copy of Pathfinder Book of the Dead to all sessions where you play this character, but you do not have to own a copy of Zombie Feast to utilize those specific companions.
The bolded ones definitely can be (and probably typically should be) humanoids. They function exactly like animal companions, meaning that you can choose them instead of an animal companion.