If I equip item which gives me more percent/flat minion damage, do I have to resummon all minions to benefit from gear upgrade?
Yes, minions snapshot on gear so if you change your gear after summoning them then they maintain anything from the old gear until you resummon them.
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Except for the falcon, which refreshes the snapshot at intervals.
Bumping this to ask, if I have a sword that gives a lot of minion damage, I can summon minions and they’ll benefit from that and then I can switch to one that has reduced damage from crit and maybe some resistances and use that, but my minions are still buffed from the stronger sword?
Yes. Other than the falcon, minions snapshot when you summon them.