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Unspotted characters leave turn based mode when another character starts combat
(self.baldurs_gate_3)
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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You may need to make sure all characters are grouped/chained together. That's my only guess of why this has happened.