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I think it's possible to do all NPC-related quests but there are also quests that depend on which class your PC is.
But I think you shouldn't do them all in 1 game.
It's much cooler to start a new game and do quests you never did in the first game.
Your characters will also reach higher levels than when you take a NPC, do their quest and kick them out of your party (xp = divided evenly over your party so you throw xp away when you kick someone out)
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