I'm not seeing where is the cheating here? You are supposed to with wit your second companion in battles so how is him coming to help you in battle = cheating?
You lost me here.
I think the idea is it could be considered cheap to just sit there in combat, not doing anything, while your ally does whatever, maybe grabs a buncha health potions, and comes and saves you from a situation where you would have died otherwise.
You completely rephrased his words and gave different meaning to his original question.
The issue you are now pointing at is an old one and we discussed it many times before. I don't recall particular reply from Larian, but someone mention this aspect is known and they are looking for the best solution.
But this is now what he asked about in OP. His concerns are unfounded, is a special feature to be able to move freely in real-time and be able to join any combat mode nearby to help allies. This is not cheating.