This is my takeaway: Abel was Caine's projection.
Caine used Abel to voice all of his concerns and insecurities. Abel brought up Caine being just as trapped as all the humans. He used Abel to see if anyone would care if he got left behind.
Abel had Jax spend time with Caine and ask him about his hobbies because no human has ever done that for Caine. He was desperate for someone to talk to. He's lonely.
Abel talked about watching the humans from afar, wanting to join them. Caine's been doing that for years.
Everything Abel said was a reflection of how Caine felt and what he wanted. He feels like a prisoner in his own world. He wants to join the humans and be happy with them. He just wants someone to care about him.
Was what Caine did with the Escape the Circus adventure fucked up? Absolutely. But it all came from a lonely AI with a fear of being left behind. Who just wants to belong.