If this is just the Primalist’s minions (companions), they function differently to the other classes minions. Primalist companions can be ressurected by standing in the green/orange circle around their body which is likely why you can’t resummon them. If you are unable to stand in the circle to res them for whatever reason you can wait out the res timer after which the companion will desummon automatically, you will then be able to summon a replacement companion.