perhaps

code/modules/mob/living/carbon/human/human.dm

@@ -867,10 +867,7 @@
 			return
 		//If you dragged them to you and you're aggressively grabbing try to fireman carry them
 		else if(user != target)
-			if(user.a_intent == INTENT_GRAB || INTENT_DISARM || INTENT_HARM)
-				to_chat(user, "<span class='warning'>You need to be in help intent to do that!</span>")
-				return
-			else if(user.a_intent == INTENT_HELP)
+			if(user.a_intent == INTENT_GRAB)
 				fireman_carry(target)
 				return
 	. = ..()