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Yeah, Madras will join your party (if you want) after you complete his quest.
There are quite a few NPC's you can recruit into the party, but they all have the same drawback: there are places in the game they refuse to enter. Vi, for example, won't enter the water, so you can't take her to Bayjin or the Sea Caves later on. Myles won't go near Marten's Bluff.
Players have worked out some tricks to force NPC's into such areas, but then they act as hexed and whine and complain the whole time they're there. This condition goes away automatically once you leave the hated area.
Some other NPC's available: a T'Rang Samurai, an Umpani bard, a Rapax mage, a Savant Trooper (the best one, overall), and a Trynnie Ranger.
Keep in mind that every NPC takes away experience from your own people, because points for combats are spread evenly across all party members. This does not apply to quest rewards, as those are fixed points regardless of how many are in the group.
NIghtowl2
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