The clone commander who befriends Cal and loyally serves Jaro Tapal isn't named. Not yet, at least. Jedi: Fallen Order doesn't particularly delve into the Clone Wars since it focuses on the "fallen" Jedi Order and Cal's journey to start rebuilding it. However, it gives a small indication of the Jedi's close relationships with their soldiers, especially considering the number of children on the frontlines as Padawans. The clones clearly developed attachments to them. When the clone commander, whatever his name turns out to be, betrays Tapal and Kestis, he is being brainwashed by the inhibitor chips, as detailed in The Clone Wars. His actions should be viewed as tragedy rather than scoffed at since he wasn't in control of himself. The actions of Sidious left Master Jaro no choice other than to execute him and most of his men. The tragedy of Order 66 is best delved into at the end of The Clone Wars Season 7.