When I played it the first time Wyll died in the goblin fight and if I had not already known that he is a companion I would have missed this.
My party stayed on the hill and was shooting arrows.
Wyll jumped down and attacked the goblins with his sword, he was killed by a worg and 2 goblins in melee.
my thoughts:
What an idiot. A warlock starts fighting on a cliff.
What does he do: Jump down and use his sword.
What would I do: Stay up there, shoot arrows, eldritch blast or other spells at the enemy, shove them down if they try to climb up.
But that is totally fine.
Its Ok that you miss stuff if you let people die in a fight or you do not go to every area and talk to everyone.

Prof. Dr. Dr. Mad S. Tist

World leading expert of artificial stupidity.
Because there are too many people who work on artificial intelligence already