So I don't know if this is something that was implemented or if the feeding intervals coming available during the other foods heal over time on a tamed creature but seeing that burst of instant health on the first feeding go down to a fraction of what it was on subsequent feedings had me curious if the animals had a strange unlisted feeding system.
All of my testing was done with Lox because my 0-star wolves can't seem to just take a bit of scratch damage without either dying to a dwarf brute or deleting any of the other lesser creatures before they take significant damage for my tests.
I've felt a noticeable change in most of the feeding to heal the Lox whenever I'd use a different preferred food item instead of using just one food type but only to the initial burst and not the regeneration effect. Between each beating and feeding the Lox receives a huge 900+ burst heal and will receive about 1/5 of that with the same food item next feeding cycle where giving it a different food item will result in about 1/4 to 1/3 of that amount.
It could be that there's a period of time where food becomes more effective as time goes from the last feeding but I haven't seen many posts about keeping your travel companions safe and healthy that really dove into the specific healing mechanic of your pet/tamed animal so any and all information would be really helpful to me.
Source: https://www.reddit.com/r/valheim/comments/10q5h1j/pet_healing_feels_like_they_prefer_a_feed_change/