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Not if you finished Nalia's original quest and left by the secret entrance. I only got back in to accept the ownership of the keep by meeting Nalia at the "front door" of the keep (closed until I accepted ownership). Later, to get back out of the keep I had to send one party member up to the drawbridge switch while having a second party member "stand" on the drawbridge once it dropped. As soon as the last member of group crossed the bridge it closed again.
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