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And no - no summoning is required to progress any of the quests. Only Dark Souls 2 did that, and keeping silly NPCs alive wasn't fun.
As for 2nd phase beginning sooner... That's either because you damage the boss faster, or there's some hidden modifier for when there are summons present that make him more aggressive.
So you're better off not summoning one, unless the boss ain't that hard, basically anything else than DLC Radahn doesn't really matter who you summon along.
And yeah you don't have to summon them, this ain't Lords of the Fallen where npc quests can fail, and where you can only summon an npc if you died once to the boss.
The attacking part is yeah just because of the transition animation, if you'd turn it off, you would actually still be there for as long as he fought you.
I've seen it with Melina spirit summon, they will stay for quite a while before they instantly vanish.