Not exactly.

[Treating the matter with the weight it deserves rather making light of it.]

I joined at the time because it seemed like the only option to deal with my other form... that wasn't just waiting around until the next fog and hoping for the best.

[As Sora demonstrated and explained after his incident, he was "partially" aware within the robeast form.]

Wasn't a decision I would've made lightly, but apparently that's what can happen when one of the Fourth's monsters eats a few of your memories.