I never had this problem with Grimgnaw or any other henchman about serving a new master. However, I never chose the option of "I think we need to part ways." All I would do is go up to another henchman and have them join. The previous henchman would be there any time I needed them. A shame about Grimgnaw, that guy is a one man tornado that can deliver damage and death before the enemy has a chance to swing.
Also, in my experience - and again this is my experience - every time I leveled up the henchman would reveal more of their story. Hope this helps.
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