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According to the player manual you can bring up the companion command menu by long-pressing E while aiming your reticule at a companion. I would assume the same philosophy holds for horses, but I am unable to make it work.

Is there any other way to bring up my horses inventory? Or am I simply misinformed?

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bigger question: does the horse have an inventory? – ratchet freak Nov 16 '11 at 21:37
I had read some articles hinting that they in fact do. Now I know it was just bad phrasing for "use your horse to fast travel even while encumbered". – westmark Dec 6 '11 at 8:08
up vote 7 down vote accepted

Only human companions have an inventory, your horse does not. However, your horse will allow you to carry more than your normal load and travel at full speed.

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Ok thank you, that was what I was afraid of. – westmark Nov 16 '11 at 21:52
And what i found important, it lets you quick travel even if you're carrying to much. – ordag Nov 17 '11 at 16:18

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