No. He's dead or stuck in an alternate dimension.
Baldur's Gate 3
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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.
Only tangentially related, but if you choose to ignore the portal you can come back later to get Gale. I was in a role-playing mood on my first playthrough. When I encountered a strange portal, and was given only the choices of ignoring it or sticking my hand in I thought, "How about no."
I missed both Gale and Astarion for several levels and thought the companions you got were RNG
No he's dead.
As far as I'm aware, that's your one chance to recruit him.
He just drifts in the Astral until he dies. To the player, he is just gone and can't be recruited again.
Looks like someone's got a 2nd play through in their future...
Unpopular opinion: you are much better off without him.
Very unpopular
That's been the only saving grace is that everyone says he's the most annoying character. A friend even told me they got soft locked because of him and had to reload an older save.
I had the same question; it’s nice to find out the answer. … if I ever play again, I was probably going to start a new save file anyway.
I don’t think I even got entirely through act one.