So some things happened and now I have 3 awaken scrolls. The rules say I don't have to use material components so I can just use them. I also switch with the dm occasionally and run it myself. How would this character + their companion effect how much xp the party can handle? So, for balancing the CR of encounters, how does a lvl 5 optimized hexblade warlock riding an awakened Giant Crocodile with 2 awakened Giant Scorpions to their side effect CR?
Frame challenge - This is a big mistake by the DM
I can't see this as anything other than a huge mistake I am afraid. Awaken is a 5th level spell, so you wouldn't naturally get this power until level 9, and even then it is balanced by cost and availability of the material components; it is simply not designed to allow you to create your own personal army.
A giant crocodile (CR5) and 2 giant scorpions (CR3) are a medium encounter for a party of 4 level 10 characters according to Kobold Fight Club. At 6,400 adjusted XP this is way beyond deadly at level 5.
What you have found here is a situation which is almost impossible to balance because they are so much more powerful than the actual player characters in the group (assuming the rest of the party is level 5 too).
One solution (the closest actual answer to your question that I can think of)
Every encounter you face just has a CR5 and 2 CR2 enemies added on, which (assuming the CR's are balanced, which is debatable) accounts for your extra firepower. Then there is no need to faff on with giving XP to the creatures etc, they are simply balanced by buffing the other side and ignoring both your pets and the new enemies from the balance equations.
Another solution (or, what I would do)
Your character realises that keeping these intelligent creatures bound to your will is inhumane (it is essentially keeping slaves) and you just let them go. Problem solved, balance restored.