I'm not sure what kind of relationship they might have since Pearl actively helps the Rose Queen and sometimes that means hurting people if she's ordered to...but she's also invested in helping other changelings, especially if they were in similar situations to her own where she was kicked out of her original coven for becoming a changeling in the first place.

So maybe she escorts people sometimes, but probably wouldn't know about the inner workings in case people needed to be hid from her or the queen? IDK I was just suggested to poke in this direction since Pearl has similar reasons for having her biker gang of outcasts.