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There is also one (three?) party members that you can potentially lose due to story related reasons and not recover before endgame.
And yeah. With a guide and some save scumming you can definitely optimize your routes. But that also kind of defeats the purpose of “enjoying” the game, at least to me.
The character that leaves and rejoins the party is not permanently missable. It might be tricky to figure out how to get them back, but there’s no fail state.
You can and should do the first playthrough blind. Save the guide for NG+.