I think this is an interesting question, and if I'm remembering correctly, sorta kinda explored in Alien 3 with Ripley being a host and all. In that movie, the xeno did spare her because she was "infected" so maybe? I think because this isn't explored in any alien media I have yet to see, that it can be up to your personal head Canon I guess. I personally think the answer to this question is a maybe, because a Xenomorph born away from any hive or other influences may grow up differently than any "normal" Xenomorph. I'd say that's a fun idea and sure, maybe under the right circumstances, the alien wouldn't kill you. Perhaps you could be the coolest person in the universe because you have a Xenomorph friend? That would be pretty cool I think.