No Garrick's just there for the heck of it (there are many more characters from BG1 hidden in the game; Eldoth, Garrick, Quayle, Montaron, Xzar...)
Keldorn does have a quest like almost all NPCs but of course you must first invite him to join your party to be able to do it.
Keldorn is initially mentioned by Sir Ryan Trawl of the yadayadayada Order of the Radiant heart as apart of the Unseeing Eye quest but after you've completed that quest you can still have Keldorn join your party
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