How this schematic could be improved? Does Q2 needs to be replaced by Mosfet ?
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I mean from 2 to 20 mA for example.
I love how spice lets you whack 5V across two series diodes.

You seem to be ok with large drop across the emitter resistor, which is the most temperature tolerant, so the simplest filter-able circuit would be to ditch the 2 diodes and replace with a PNP emitter follower, and a pullup on the NPN base. (That can pullup to 12V)
That gives you 'nominal' vbe tracking and a high input impedance at the PNP base, where you place the PWM filter.
A dual transistor package would improve that tracking.
It may not drive fully down to 0mA, but it could manage 2mA~20mA.
You can nudge the lowest current down, by connecting the PNP collector to the NPN emitter, instead of the more usual GND.
Now, base current steered by the PNP, subtracts from the NPN Vbe.