I haen't played much myself, but judging from all the comments it does seem like Sir Lora was poorly implemented. It latches onto the main character, but even if a subsequent character with Pet Pal comes along, he refuses to interact with them. Who thought that was a good idea?
That forces the main character to take Pet Pal, which is obnoxious for everyone except a mage because it screws up their Talent progression - especially Warriors, who need Opportunist or else they suck.
