Haurchefant is a mixed case for me. I didn't think much of him in ARR and his cameo in the New Year's event creeped me out. When I found out what he was like in Japanese I was relieved that the English localization team toned him down to be honest.
I appreciated him a lot more in Heavenward. He proved himself as a true friend to the WoL in their hour of need. I don't know if I'd call all his stories milking-I'd say it's more like how we keep getting more stuff for Edda. SE knows that he has a large following in the fanbase and is catering to that.

As for the Scions, I see it brought up a lot that they don't care about the WoL as a person. Playing through ARR again on an alt I didn't really see that, except maybe from Alphinaud. Their relationships are professional but they always ask your character to go on these dangerous missions and thank them for risking themselves for Eorzea. They celebrate the WoL's victories and safe return both. They do fight alongside you on occasion and have their own parts to play in missions, though the structure of the story doesn't let them get much done on screen. Minfilia confides in the WoL about her worries for the future and thanks them for being a pillar of strength.
I think my favourite part of ARR is when you return to the Waking Sands after Praetorium and get a "hero's welcome" from the major npcs. Perhaps the WoL isn't best friends with the Scions but I never felt like they didn't care or only saw them as a tool.