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Once this quest is done, you need to go back to Wucai Village and report about your job. Alternatively, you can complete any quest at the Heavenly Ridge Pass area. You can unlock your first companion named Yilang after completing the " Battle in Royal Court IV" quest, where you need to defeat Wuzhao general Wu Yeyu in the Yemo City dungeon, which is your very first game dungeon. You should be able to unlock the first two companions before reaching Student 1, and later on you will be able to find the third one.
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But this guide will pinpoint at exactly what points you will be able to unlock each of the three companions and more. You will naturally gain access to all companions in the game by completing the main storyline.
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