He manipulated Naomi and his son into committing acts of violence for his own selfish goals. You cannot blame Filip for the way he was thinking throughout the series, as Marco was good at manipulating people. Still, it had a lasting effect on the boy and how he eventually learned to think for himself by seeing things through his own eyes and not through the lenses that his father was making him wear throughout his entire life. While Naomi’s imprisonment may have allowed Filip and Naomi to form a bond, it still failed to eventually turn Filip away from the path of violence.
Filip was so in touch with his father’s visions and teachings that, in season 5, he rejected his own mother Naomi and imprisoned her in the Pella when all she wanted to do was to help her son realize that he needed to turn his back from what his father had been teaching him.
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True enough, when we were introduced to Filip in season 4 of The Expanse, he was committing war crimes on behalf of his father’s Free Navy. Instead, he only became such because that was what his father taught him was right. In that sense, Filip practically grew up as an extremist himself but not because he wanted to. Filip Inaros is one of the most intriguing characters in The Expanse because we are talking about a character that was reared by an extremist father who cared more about his own goals than actually properly raising a son.