Why couldn't you just say that!

The way you were describing it it sounded like he took the damage then healed a % of it back. Yeah, if that's the case, your current heal is fine.
For the miniminions though, they will be useless late game. By that time, usually everyone has taken to a base by then, meaning you won't be able to grab any minis. The only way you could use them is if you saved them up all game and had them sitting at the mound. I'm not against the idea and up for anything that will change miniminion gameplay around, but realistically it's not a reliable heal.
I'll try to think of something for the minion's ultimate, but I know that not all the titans have scouting skills. The only ones that come to mind right now that do are luci, glac, molt, and demo, with syph and granit coming in as semi-scouting with eye and sentry stone.