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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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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.