| As long as you have abandoned the quest, Taelan will let you escort him again. I know because I failed the escort several times before I was able to complete the quest (either I or Taelan got killed too early).
Also, if you die before Daddy finishes fighting, just don't release until he finishes talking and the question mark appears. Then release and run back, rez and receive your reward from him. He sticks around for a while.
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Selwyn
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