My first playthrough, he was one of my least favorite characters. I thought he was annoying and 9 year old me was like "WHY CAN'T U LET THE PRINCESS GO ADVENTURE GAH"
Now he's one of my favorite characters. I like how he has a good amount of development. He's loyal to a fault, but when he realizes the one he is loyal to isn't such a great person, he can accept this and change his ways. He's brave and very caring. From his point of view, he's trying to do good and protect the princess.
Did you like Steiner?