in that case it was less emotional codependency and more "without Soren's guidance, he's totally going to get kidnapped by Aimee/get poisoned while traveling/get cheated/price gouged while traveling/step into one of those pitfall things and then get kidnapped by Aimmee" and all that jazz.

Ike is hardly helpless, but Soren has a discerning eye. Remember, Ike was willing to go with Aimee's plan before Soren ran in and stopped him in that base scene.