MAJOR SPOILER!!! DON'T READ IF YOU DON'T WANT TO KNOW!!!
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A geas, in SoA at least, is a very advanced domination spell. When you cast a geas on someone, you are free to do whatever up to a single point: the geas will kill you if you fight the orders of your master.
In Yoshimo's case, Irenicus put a geas on him to bring the protagonist to him. Yoshimo would die if he would refuse and thus had no choice in what to do. His other actions in the party, however, are his own, because he was still fulfilling as his master's commanded him to do.
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