I used Zygor for legion and BFA, used AA on an alt for BFA. Personally i like Zygors format more. I like being able to target things like achievements. I used Zygor to get my Mindworm and my Lucid Nightmare as well as finish the Rep grinds for the allied races. I have zero complaints. My experience was great. I also used Zygor for some professions, recipe acquisition, a couple mounts, all of the Suramar quest line. Thank God for that. And for the last zone of Draenor on my Demon Hunter.. i forget the name.. Whatever the big daily hub thing was called.
Each battle that you win will yield experience for each pet that participated. However, deceased companions will not receive any experience (so make an effort to keep them alive by swaping in a different pet). Experience gains are based on your pet's level compared to the wild pet. Defeating a higher level opponent will grant more experience than a much lower level one, but be ready for a tough fight!