If you think you may have lost Keldorn, or just want him back, after he spends time with his family he goes to his Estate (Firecam) in the Government District. I had him, then had the whole subquest with him and thought I had lost him for good (that's what the dialogue sounded like to me). After getting the Holy Avenger, I decided I wanted him back, so I checked his estate and there he was. My opinion is that if you let him spend time with his family when he wants to, you can't lose him forever. If you don't let him leave you, my guess is that he'd eventually get really upset and THEN leave you forever.
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