"As long as I know they're coming, yes." Exemplified by the (very small) twitch of surprise at the sudden resummon of the giant-ass key while Sora thinks. They'll step well back and keep their eyes on him, so they can in fact see the explosions coming. They'll leave the topic of Sora's augmentations alone, now that they've made their point; harping on it seems excessive, especially when they've already sort of "won".

Sometimes the Soldier is happy to say "I told you so" but sometimes they'll be nice about it.