I tried doing the Dal quest and didn't get credit even though he was on the team. I thought he was summoned but I guess not? Might try again today. Like someone said, if you have alts you can just do the same battle multiple times with them.
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Look for the Falcosaur swarm daily (Wardens) in the various zones. After you kill a Matriarch, you can interact with an orphaned hatchling. You need to have the correct food for it, then you will get it as a pet.