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Latias would be my first choice. Check it out, telepathy to communicate, knows my language, can turn into a human, can fly at high speeds, can share dragon vision, its a frigging dragon that's also psychic and we can have discussions WITH OUR MINDS.
Its also pretty peaceful.
Milotic, it can calm your mind and its peaceful. Would use it to transport through lakes and the such.
Togekiss is another peaceful bro i love :)
Arcanine is a good doggy :D loyal to the end
Ampharos would light my way in the dark. Also best bro ever
Meganium would totally calm everyone with its aromatherapy and the such.
I like peaceful pokemon :D