It does auto harvest, but anky's usually don't have much weight and it must be under 40% roughly to auto harvest.
Doedic's cut weight a lot so it takes longer to reach that threshold. Unless this feature broke recently the anky usually swings on first node I'm near and beyond that i have to do it myself.
I think a better option to aid in solo grinding would be the ability to utilize the Held tames melee attack over the flown creature. This would allow you to fly an Argy for example, but swing with the anky.
