Passive skill points

I really like this game but i’ve played trough the campaign twice now. So for my next build i just want to rush the campaign but i’ve noticed that in the campaign you get sidequests from NPC’s that reward you passive skill points.

I don’t want to miss those off course so i wonder if you rush trough the campaign it is possible to miss those NPC’s if you don’t clear every map completely. Or do they always come on your path even if you rush straight to the end?

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