Is Gamond and Zaza flee reliant?

Title due to spoiler avoindance but semi relevant? And please dont spoil past act 2 i still didnt get past it ♡

Basically i couldnt really find any information online on how to get Garmond and Zaza to help you out in fights and ive been stuck in Act 2 coliseum for a while. Now due to circumstances i had to fully restart Silksong (my controller died, decided to buy it on switch instead of getting new controller)

Now, before you reach Bellhart, if you collect all the fleas, the flee caravan will take you directly to the Bellhart door.

Apparently, if you dont collect all the fleas, the door is guarded by the boss Moorwing. I tried to fight it but i semi speedrun the game up to that point so im not very equipped for this fight and i retreated. Right outside the fight i found Garmond and Zaza ready to help out with the fight and he did join me in this boss.

This actually never happened to me before, and i spent 70 hours thru act 1 and 2 (i was fucking around A LOT)

Because i havent really been able to find a reliant answer to what makes them actually come and help you (aside of wiki mentioning some quest in act 3), is this what will make him follow you to battles? Fighting Moorwing instead of getting the fleas?