I'd say that it depends on the situation. Sorry if that's not much use.
My guidelines would be
Does the follower realise that they should act ? If not then it probably takes an unrelated action to get them to do it
How willing would the follower be to act in that way ? If that gives a clear yes or no then use that, if not make a Relationship roll. If the player wants to actively use another ability in place of the Relationship or to augment the Relationship that would take an unrelated action.
If the relationship is good (say 17+ ?) then a follower would typically be willing to take actions that might be seen as outside their "job description" but aren't onerous or unpleasant or excessively risky (compared to normal duties). Follower abilities and flaws might change that.
-- -- "The T'ang emperors were strong believers in the pills of immortality. More emperors died of poisoning from ingesting minerals in the T'ang than in any other dynasty" - Eva Wong _The Shambhala Guide to Taoism_ Paul K.
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