Oh in a different, peaceful setting where the betrayal didn't happen, Kaiden and Gale will still be wary of new people but not as much.
They will definitely see Guntur as a threat though x'D he has a big built and Gale won't feel confident enough to be able to seize him alone if something were to happen. And you're right! While Arya will have much to argue and fight often with them, his straigtforwardness will be seen positively. I mean, they'd rather you talk bad to their faces rather on their backs. Kahlil, on the other hand, the first impression will be that he's annoying at first but grows on you as time passes.
Interactions between the men will be limited though, since Gale & Kaiden still have their jobs to patrol the area & they will also be absent sometimes if the King sent them on a mission or if they want to visit other villages and do the odd jobs there. They might encounter often in the hot springs though. It's the only place where you can relax and honestly, the soldiers like that place very much. Nothing like a hot spring loosening your tense muscles after a training or two. Oh and let's not forget the Bar!
The qualities Kaiden & Gale value the most will be: Honesty, Hardwork, and Don't talk bad about the soldiers or Sir Marco in any way. They'll appreciate you more if you help with the odd jobs though. When people work together, you'll find out people's characters/habits when encountering a problem and see how they try to solve them.
About Gale's prosthetic and Kaiden's scars... Gale won't mind you touching it, since it's very sturdy and he can make a new one if smth happens to it. He likes how practical it is and accepts it as a part of himself. It's a shame that he can't feel anything though, so if you touch his protestic arm, he will feel nothing. But the shoulder is another matter. The place where his arm got cut off is discolored and very sensitive. He don't want anyone to touch it unless it's absolutely necessary.
Kaiden's scars will not exist if it's a more peaceful setting and the Spring Village still stands. But if the scars are present, then yes, he will be numb to the pain already and unconciously, he will seek warmth because his body is as cold as ice. After all, his heart already stopped for a long time.
And no problem at all! Feel free to ask because my goodness, 115k words already? O_O;
I look forward to read it <3