Yeah, I just experimentally confirmed this. So if you want to use Titan as the launcher, you must commit to Cricket, and thus accept lower scientific payloads and more importantly higher development cost (since a single-person lander is vastly more difficult to fly safely due to pilot workload)
The good thing about this approach is, of course, that you can use Kicker-A exclusively, which is cheaper and faster to research than Kicker-B.
There are bad things, too: first,a joint mission has double amount of some important stages, like launch, orbital insertion, trans-lunar injection, lunar orbital burn etc - if one of these fails, the mission is scrubbed.
Second, it eats up two launch pads
Third, you need Cricket, which pretty much eats up savings from using Kicker-A.
On the other hand, for a mission with Eagle, you WILL need the Saturn V, so...
The decision is as always yours, herr von Braun. But chose well