It depends on your Reputation at the moment you drop them: If they're happy with the way you've been running the party, they'll stay right there and wait for you to come back. If they've been pissing & moaning about how you've been doing things, they'll call you names and walk off, and you'll never see them--or anything they're carrying--again. This, at least, is the general rule.
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Volothamp's Comeuppance
Everything you ever needed to know about the entire Baldur's Gate series......except spoilers.
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