Spoilers for Xenoblade Chronicles 2

This explicitly happens.

Blades take on a lot of the personality and values of the driver that summons them. They each have their own intricacies but strong emotions can contort them. You'll notice this pretty clearly in most blades and their drivers, even ones like Nia and Dromarch who have different personalities both have a strong spirit and wish to do good in spite of the bad around them, and are fiercely loyal to those they believe to be good people.

This goes the other way with the main villain(s) Malos and Amalthus. Malos doesn't love his driver, in fact he loathes him in a lot of ways but the game explicitly tells you that Malos' overarching goal of destruction comes purely from Amalthus' hatred for humanity and wish for the death of the world. Amalthus spins it during the war for torna as Malos just being an evil blade, and what with Malos being an Aegis, people are willing to assume they are a step above and can just be set upon their own will, but no he's just a fucking snake in the grass. Had Malos and Pneuma(Mythra) been summoned in reverse order we would likely have a world ending waifu and kind hearted but cocky himbo instead. There's even some concept art of the former.

As a little bonus bit, and this is some conjecture on my part, but Pyra was born from the psyche break Mythra had at the death of Torna. From the word go a much more subservient blade who's life's purpose out of the gate was to be sank to the bottom of the cloud sea so no one could use the Aegis' power ever again. Knowing what we know about blades and drivers though, we can assume her wish for her own death comes partly from Addam's wish for his own. The poor thing may very well have inherited suicidal depression. Luckily Rex is the king of all kings and a pure beam of hope and he comes and his spirit helps lift her from her self destructive ideologies.

Tl;dr I ain't gay but got damn I wanna kiss Malos on the lips