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Hiro's hang ups is 99% likely a fear of intimacy which stems from him being traumatized by the orphanage kids "disappearing". He probably started feeling as a failure as a leader when he couldn't "save" them. That's why he was self-destructive (picks the "disappear option", doesn't seek for safety against the klaxxosaur, happily goes piloting with the "partner killer"). That's also why he seemed to seriously consider running away with 02. He (sub)consciously hates the society that killed the people he was supposed to protect.
Hiro is going to have a very interesting character development, because he's basically someone who deep down is know he's alpha, but he's desperate to find the power he needs to enable his desires.
At the moment, 02 represents power and possibility to Hiro. Meanwhile, 02 seem seek a partner in Hiro, presumably because she's tired of faking to be strong (that's why she does all her dumb stunts all the time. It's posturing to make other people think she's strong) when she really just want another bird half.
