I've used scorpions a fair bit in my game & so far as I can tell I definitely get xp from their kills, the same amount as if my char made the kill - haven't used Aura of Command on them though.
...and yeah, I'm sure I've read about this on another thread! (couldn't be bothered searching though <img src="/ubbthreads/images/graemlins/tongue.gif" alt="" /> ).
