I read that Agesilus II brought a few thousand freed Helots with him to Asia Minor to fight as soldiers. If the Helots truly hated the Spartans why wouldn't they just mutiny?
The neodamōdeis had several good reasons not to revolt.
First off their friends and families would still be living in areas controlled by the Spartans. Helots could gain freedom and become a neodamōdeis, but their ability to relocate not only themselves but their family would be extremely limited. Freedom would be granted to men for military service or specific acts of bravery, but freedom was not extended to wives and children of those freed. By rebelling these men would risk the lives and safety of their families at home, since they would be punished for their crimes.
On top of the concerns for their family, there were the simple logistics of rebellion on this expedition. Some two-thousand neodamōdeis joined Agesilus II, but another six thousand allied Greeks also joined, only around thirty of which were actually Spartans. If the neodamōdeis chose to rebel they would have to fight these men, leaving the neodamōdeis outnumbered three to one.
The closer to Sparta they rebel, the sooner Sparta would know and exact vengeance on their family. The further from Sparta they rebel, the further they are in unknown territory without support. Cities don't take kindly to a random mob of non-citizens wandering through their countryside, and the neodamōdeis wouldn't have men of renown or political clout to promise them safe passage through foreign territory. They would need the rest of the army, especially the officers, to guarantee a safe trip home.
Not only were they outnumbered, but they likely had worse weapons and training than those they would have to fight against, as well as lacking cavalry. In the phalanx oriented fighting of the time, this left them at a great disadvantage. The heavy bronze armor and spears would likely be too expensive for the average neodamōdeis, who most likely served as light infantry, using slings, bows, small spears, and swords. A horse would simply be out of reach of any neodamōdeis, leaving any cavalry in the army on the other side of the fight. If the neodamōdeis decided to rebel, they would be slaughtered in a fight with the rest of the army.
The neodamōdeis wouldn't really be rebelling against the Spartans anyways. The army was almost entirely non-Spartans, with only Agesilus II and the additional thirty Spartans actually being of Spartan blood. If the neodamōdeis chose to rebel against the army it wouldn't be as much a rebellion against the Spartans as a rebellion against fellow soldiers.
Warfare also promised great riches to those who won. The neodamōdeis could expect plenty of looting and plundering after any battle or city they won, greatly enriching these once enslaved men. If they chose instead to rebel any chance of loot would be lost.
If the neodamōdeis chose to rebel they would be slaughtered by the army since they were both outnumbered and outgunned. If they managed to escape or win a battle against the army, the neodamōdeis would be unable to return home, and their families would be punished for their crime. Any chance of enriching themselves would be lost, and they would be men without citizenship to any city, a fate in many ways much worse than slavery in ancient Greece.
Rebellion would gain them nothing, and cost them a great deal.