Hi Jeremy,
This is not possible in Hikashop at the moment. However you have few solutions to do that kind of thing.
1 - First you can simply add a message during the checkout process to inform your client that they are going to get a free product with their order. In this case, you just have to edit the cart view (Display>View) and add this message in the file.
2 - Second, you can give your client a coupon of 100% reduction which allow them to buy the given product for free. But they'll have to make a second order.
3 - You can also create an autoloaded coupon of value 0 which will be named for example "the free product" and will appear in the cart during the checkout.
If you to add the given product to the cart each time someone add something to the cart, it almost impossible. You'll have to edit many files in hard code and that's wouldn't be easy to implement/remove.
Bt if it's what you want I can try to help you