Allied Footsteps (EFA - A)

The bond between you and your companion grows magically stronger. Your companion knows the direction and approximate distance he must travel to reach you, enabling him to find you. The spell works at any distance and continues even if you die, so long as you are both on the same plane of existence.

At Higher Levels. When you cast this spell using a spell slot of 3rd level or higher, you extend the spell's duration for each slot level above 2nd