I'm quite sure he does agree Estinien's sole purpose was to kill nidhogg and was kept alive on vengeance and spite alone, it's the only reason he became the azure dragoon.
Being controlled/used/being the one thing he hated is most definitely a fate worse than death and I have no doubt he would gladly die to end nidhogg (he would probably prefer to die since he doesn't really have a life beyond killing nidhogg)


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