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NPC's stay where you drop them off until you go to a new area. Handy if you change your mind but haven't left for another location yet. Yes, they usually do go where they say they are, though in the unpatched game, occasionally there is a bug with Vi that puts her in the Phoonzang statue instead of He'Li's. RFS-81, however, will stay exactly where you leave him; he doesn't go anywhere.
Yes, Vi will go to the Peak and the Cosmic Circle, no problems. There's even a little byplay between her and the Dark Savant at the end (not critical to the game).
You can force any NPC into a "forbidden" area in a couple of ways. One is to set a portal in the area, then recruit the NPC again, and teleport back. The NPC will be hexed for the duration, along with doing a lot of whining and nagging. Once you leave, they're back to normal again. I wouldn't advise doing this with Madras, since the Peak is the endgame, and you want everyone at 100% efficiency.
As for trying the peak now, go ahead. Save first in case you're in over your head.
Nightowl2
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