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If you fail to pull Gale through the portal, can you recruit him later?
(programming.dev)
Baldur’s Gate 3 is a story-rich, party-based RPG set in the universe of Dungeons & Dragons, where your choices shape a tale of fellowship and betrayal, survival and sacrifice, and the lure of absolute power. (Website)
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I think only Lae'zel and Shadowheart really have multiple chances.
Gale, Karlach, and Astarian only show up in a single place.
Wyll has a couple of places, depending. If you don't recruit right away, he'll show up at camp if you recruit Karlach.
He'll also just stand around near the entrance of the grove on the left side of the road, just past the gate. I didn't even know existed my first playthrough until I was through with the Underdark. Then I read about him online, went back, and found him there.