This is somewhat confusing question and translation to me. People usually know if they have “the right” to accompany someone. Posso accompagnati? May I accompany you? In what situations do you ask that question the CM way?
“Diritto” to me has a legal sound.
I can easily imagine situations e.g. in court or in intensive care in a hospital, where I would be not sure about my rights to accompany someone and this question would make sense.