I just checked into this as well, as Toddler Cellisttoo is flying to MSP-XXX tomorrow with her Grandparents. Her Grandparents are flying YYY-MSP-XXX and have a 1/2 hour connection time.
I called the PM line (as Toddler Cellisttoo is PM) and they made a note in her record and told us that we can get 1 get pass. They said that they might make an exception at the ticketing counter and give us two, but they stated that official policy is 1. If Mr. Cellisttoo cannot get through as well, I am going to try the "he needs to accompany his elderly parents who only have a 1/2 connection line and also point out that if the elderly parents miss the connection, so does Toddler Cellisttoo, who is too young to fly unaccompanied." We will see.
So, for minors, the official policy is one gate pass.
Now I just need to figure out how to get Grandma on the companion upgrade list. Otherwise ToddlerCellisttoo is going to be lonely up in F by herself (since her upgrade cleared at the window).

If the companion doesn't clear, Grandpa can always take the seat, or we can give it away to some poor silver at the gate.