Yeah, Baroque seems to have an inferiority complex towards Ares... he's an arrogant prick, but he seems to know, deep down, that Area is better than he is, smarter than he is, and all-around more capable.
He knows full well that if Ares really tried, he could depose Baroque without much trouble. But during the war Baroque knows he needs Ares' abilities or his kingdom is doomed, so he can't afford to get rid of Ares.
But Ares is just too damned loyal to the throne and the idea of the king as an absolute ruler to ever go against Baroque.
Of course if Ares did have a spine that would kind of undermine the NTR angle the game is centered on, so of course he's characterized that way.
Lol, sure bro, if that makes you feel better. Baroque is a selfish asshole for sure but he don't have any malicious agenda, his only agenda is to create as many strong heirs as possible, as a lack of heirs was why the previous king failed. As a selfish prick, he feels that he can take whatever he wants cuz he's king, which is actually pretty realistic; he honestly could care less abut Ares as long as Ares bring results.
He actually fully recognizes and and is appreciative of Ares' abilities, which is why he wants Ares to marry his sister, the only girl he won't touch cuz even he won't go THAT far. Ironically, Ares has no issues fucking his own sister.