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Many of these companions also come with their own series of quests and unlockable skills, turning them into more than just faceless characters to help you in combat.
Some you meet early, some late, and others not at all depending on your choices. The Cleric of the group, this is your first potential companion. As long as you choose to save her from her pod-thing on the Nautiloid ship in the opening of the game, you will find her on the beach you crash-land on.
If you decided not to save her on the ship, you can still add her to your team by finding her farther east down the beach near the Dank Crypt. Depending on your path, this is probably the second character you can add to your ranks by going north and west of the crashed ship. While this ends up being a trick, if you forgive him, he will gladly join you.
Almost right after you find Astarion, Gale will be another voice calling out for aid. This wizard has found himself caught in a portal and needs some help getting all the way through. If you feel bad about fighting them, make sure to take them out non-lethally. After you fight the small Goblin forces and can go inside, Wyll can be found teaching some Tiefling children to fight.
Wyll can actually help you locate Karlach, who happens to be near the river south of the Risen Road waypoint and east of the tollhouse. Find him in a cage by the Worg Pens, set him free, and then kill the remaining Goblin Leaders. Here, you will need to sell out the Druids to her and help her attack and destroy their base. Once the Goblins win, speak to her at the celebration to have her join your team.