If the NPC is happy with the party's Reputation when you boot them from the party, they'll stay where you left them. If they leave of their own accord because of Reputation or your not finishing their quest, or you boot them when they don't like the way you've been running the party, you'll never see them again.
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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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