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Why are there points of no return?
(lemmy.world)
Baldur’s Gate 3 is a story-rich, party-based RPG set in the universe of Dungeons & Dragons, where your choices shape a tale of fellowship and betrayal, survival and sacrifice, and the lure of absolute power. (Website)
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So long as you don't progress past the Mountain Pass into the Shadowlands you can go back and do the Underdark no issue, and you can still go back and hit the underdark even after that (all the way until Act 3) though you will miss some quests that way.