So I think these two would have a funny relationship. Sim doesn't really understand why people steal, so she'd probably think Bo was a bit strange. I can almost see her liking Bo, though. She would respect the attitude of doing whatever she wanted, haha! Sim is a Ranger who does odd jobs. Maybe Bo accompanies her on a bounty hunt or something?
If the bounty hunt takes Sam anywhere in the city, Bo is bound to be there. And if she's doing a job, Bo is bound to follow. Probably just to annoy her.