Lucky you.

[She can't believe she's about to do this...but...]

If it's a task she assigned to you, I can't go all the way...but if you want an escort nearby as back up...well, I don't have plans tonight.

[If the Queen had wanted her on this mission, she would have sent her. But Pearl also has some free will--if she decides to help him it would be without the Queen's support necessarily, but she could still follow and be a rear guard]