You can't say that we're "just following orders" though, our input is asked for several times and we fight the Primals because we agree that they're a threat, not merely because we were asked to.
To be entirely fair if we say no to fighting a primal, you're dooming quite a number of people. So it's not really a choice in that aspect since there's not really many people at all who can take down a primal like the WoL can.

Although I do think the WoL is being used because it's convenient. Yes I still think the Scions are our buddies (they definitely started seeing us as someone they could use for their organization but it grew past that) but they know if there's ever something they need, they can ask the WoL and the WoL will say yes (like the tame example of Yda sending you to get flowers--sure, she was kinda depressed etc. etc. but even Rowena pointed it out--WoL never says no). Which is why Hauchefant feels a bit different because he never really asked you to go risk your life to take down a primal for the good of the realm (at least as far as I recall)--I don't really recall him asking you to do anything rather he's there to back you up. I think perhaps the Scions are just so used to the WoL basically doing whatever for them so they come to rely on them which creates a feeling of being used.