There are references to elves and dwarves in books, etc, but otherwise no non-human friendly races in D2:ED or (AFAIK) DKS. You do get to meet to Patriarch again, the dragon from DD's wastelands, and the teleporter stealing imp ZizZax the Almost Wise.
You can return to Aleroth, though it has changed significantly from DD. Unfortunately no other places from DD can be visited.
In BD act 1 was a little linear, but acts 2 and 3 opened up and had a lot of freedom. Playing a warrior/archer, most of the time I had both characters selected and directed them as one, so the combat was pretty much the same as in DD. It was too bad about barrels not being breakable, though.
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