Leaving Idona was more complicated than Henry expected.
Perhaps he was naive to think that Sylaron would want to stay in Idona, close to Polona where her source of lava was, but the moment the knights got on their horses, she insisted on following them despite Henry's pleas for her to stay.
He took nearly an hour convincing her that he needed her to protect Idona rather than following him because his men were there and they were in a vulnerable place because of the proximity of dangerous monsters.
What finally convinced her was him saying that the magical barrier had been broken so it was her fault that all the monsters were able to escape. He assured her that he would be back when he could because he had to retrieve his men. If worse came to worse, he would be able to meet up with his men in Tenetium and she would have to follow him there.