The sorcerer main summon AI is downright horrible, everyone knows that. But there are already existing AI that works much better at least for melee combatant. That is whatever AI the salamion summon is using.
It has 2 major differences that i could see.
1- It does not priorise following the main character, it will only follow once your way too far or combat is over. On melee summon its pretty much needed unless you are melee yourself since otherwise the first knockback or movement you receive/do cause the summon to completely stop attacking and come back to you.
2- It never attack from outside of his attack range. That one is obvious and should really be fixed on both ai, on many occasions the main summon will stand by attacking absolutely nothing, while his target stand clearly out of range.
Now switching the summon ai to the salamion ai alltogether would probably cause problem with ranged summons, hence the toggleable attribute suggestion instead. Let us chose which ai system to use.