Companions in Baldur's Gate 3

The first thing I want to emphasize is that all the tasks of the satellites are somehow connected with the storyline. If you get stuck, don't worry, the task will continue in the next act.

• Shadowheart - Lying on the Ravaged Shore.
• Laezel is in a cage, caught by tieflings, east of the Clocktower, from where you can get to the Dark Crypt.
• Astarion - on the road, not far from the destroyed nautiloid and the rune circle around the Emerald Grove.
• Will is in the Emerald Grove.
• Khalsin - you have to save him. They told separately.
• Gale is a purple portal near Astarion and the Emerald Grove Outskirts.
• Jaheira - be patient, as you will only get her into your ranks at the end of the second act, in the Lunar Towers. And that's assuming they didn't kill the woman.