The kithrak flying off is just eye-rollingly silly. I mean, I know he’s acting in the tradition of a long line of villains with an unwarranted confidence in their underlings’ ability to take care of things, but still. I do like the scene with him, and the ability to recognise detect thoughts and resist it is fun, but I think it really needs to be rewritten so that the kithrak and dragon fly off after flaming the Flaming Fist and it’s another character who you speak to, who is then part of the fight should it come to that.
I don't know. I think the whole scene works fine. They just need a MUCH better reason for him to leave. Have cultists suddenly ambush, and he and the dragon are fighting the horde of goblins or something while the patrol fights you. Have a surviving mind flayer attack, and it tries to capture the dragon's mind, drawing Voss away.
Or, like I said, have it where he believes you don't have it on you, but one of your companions at camp does, so he leaves to get them while the patrol deals with you who he views as less important at that moment. Just something more believable.