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I only use
/cast [target=pettarget,exists]
It produces an error message when it's out of reach (like when afflicted by Frost Nova), but works fine at other times.
Reasoning: For a pet to have a target, it must be alive, summoned and attacking. If one or more of these aren't true, the pet has no target. It also serves as a check when your pet has no target for other reasons (e.g. when it's feared).
I've had no problems with these, barring when I'm out of mana and trying to cast only Steady Shot, for example.
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