Hahaha, oh man, I wish it was in DotM! It's mostly implied. Dylan says that Soundwave and Laserbeak were his father's clients, and that he "inherited" them, and if they were there for the moon landings as he said then yeah, they've been in the family since right about when Dylan was born. He certainly seems comfortable and familiar with them. He speaks to Soundwave almost as an equal. idk, just a lot of little things that my mind ran with when I was trying to figure out Dylan's motivations.

GIVE UNCLE LASERBEAK A HUG, LITTLE DYLAN. MY HOW YOU'VE GROWN.