I found out that if potions (base, hp, mp, stam, wound, etc.) take up half of your pet's inventory space, it will get the Trustworthy like a Healer title.
If you don't really have any potions, you can buy base potions, divide it into 1's, and place them into your pet's inventory.
Hmm, can anyone else report on here on how to get the other titles?
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