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They kind of implied that Robb could warg Grey Wind on the battlefield, though it is never stated outright. Bran is clearly the most powereful warg, but Arya and Jon both warg their wolves at times in the books, and Arya wargs a cat too.
Sansa lost her wolf early when that bitch Cersei made Ned kill Lady, so she never really developed the warging ability. They hint at Rickon doing it also in the crypts of winterfell, but mainly shaggy dog is a bit wilder and more uncontrolled just like Rickon, so Rickon's wolf at least takes on his personality even if he's not a full warg.
The wolves all have a connection to each other as well as they can tell that Grey Wind and Lady are dead. I think Summer senses that loss one time when Bran is warging her, or maybe it was Ghost, I can't remember.
It is hard to tell with Robb and Rickon since we never get a POV from either, at least so far. It is interesting to me that Rickon has never had a POV chapter. Robb never did, and I think it might be because none of the kings ever get a POV, and he was a king. The queens do (Cersei and Dany), but never a king. It makes me wonder if Rickon might end up being king of the north at some point.
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