Quick simple questions.

• Can non-sentient figures still count for control (terminal, objective, tile etc)?
• Can a companion count for control?

My understanding is the answer to both of these is yes as non-sentient only refers to interacting, and in the rulebook, companions are defined as a type of figure.

Control doesn't require an interact, and the rules for companions doesn't exclude control, and state that all other rules for figures are valid for companions, so I would agree with you, non-sentient and companions can control.

All figures (includes Companions) are counted for control (unless other abilities like Alter Mind or the special action from Terminal Networ are in effect). Control does not check abilities or traits, only who the figures belong to.