The PHB has this to say about Animal Companions:
The beast obeys your commands as best as it can. It takes its turn on your initiative. On your turn, you can verbally command the beast where to move (no action required by you). You can use your action to verbally command it to take the Attack, Dash, Disengage, or Help action. If you don’t issue a command, the beast takes the dodge action.
My question is, although it specifies that movement takes no action while a list of actions take your actions, can a Ranger also verbally command the beast to hide, search, or ready an action (that isn’t in the list of actions that take your actions)? Nothing in the feature specifies that you can’t order the beast to take any of the other actions listed.