ahsoka/rey.
Yes, but then you answer to the Council if it goes against their wishes. My training happened to coincide with the Clone Wars, and Anakin and I were often at odds with the Council on how to proceed. Near the end of the Wars, the Jedi were more politicians than Peacekeepers.
The Jedi Code promotes compassion but looks down upon attachments. I feel that those are at odds with one another.