I can see this as being a fun co-op puzzle platformer in a wacky topsy turvy world but I think it's worth simplifying or even removing the companion commands because it feels unnecessarily complicated. Since you can directly control the companion there isn't much use in commanding them, I was able to play through the game by just switching back and forth between characters. Improving the AI to allow them to climb ladders, jump over platforms and jump with the player would help streamline the experience a lot. I think the only command needed is a button that toggles between stop/follow. Otherwise great job on your first game, being a solo dev is freaking hard.