SPOILER
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Sherpa Doug:
Once he's betrayed you you can never get him back or resurrect him. You need to ditch him much earlier, preferably in athkathla. Leave him in a closed area like an inn. Then after the Asylum, walk into the inn and IMMEDIATELY click on Yoshi to talk with him. Pick the dialogue option saying you want him in your party. Then he will be in your party and immediately die, but now you can resurrect him!
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Melusine
Your voice is ambrosia