Some bicycles have two seats and two sets of pedals. None have two sets of handle bars that move. The person on the back provides extra energy. They can even help to balance the ride. But only one person can steer. If that responsibility is to be divided and shared, the cyclists must take it in turns to change position.
There's a conflict in your world that stems, at least in part, from the need to have a realistic conversation about the delegation of decision-making. For there to be any progress, there must first be trust.
C'est à propos du lâcher prise: une difficulté pour quelqu'un qui est tant dans le contrôle.