Yes and maybe give him some quest for act 3 on top of that. Even in my first playthrough, when I didn't know the full extent of his toxicity, I rarely took him with me, because there was no need. I just juggled my companions around doing their quests, trying to get reactions from them and Halsin just had nothing going on.
Sure I suppose, but given the glaring errors we have seen them overlook so far, I am still hesitant and worried that I would have to constantly babysit him and something icky suddenly happening that forces me to send him to timeout in camp again. It would take some time to re-build my trust in the character and not get creepy vibes as soon as he appears.
First playthrough I had, I went in without reading any spoilers revealing anything about the characters or story beforehand and letting things play out according to the choices I made. So I missed completing his quest to lift the shadow curse and he left at the end of act 2. And this was a playthrough where I played Tav as a lesbian female who romanced Shadowheart, so I really dodged a bullet there.
Subsequent playthroughs now that I know what is in store for me. If I lift the shadow curse, I just leave him in camp during act 3 and in my headcanon he stays behind helping with re-building the lands and isn't actually there anymore. It makes more sense storywise anyway and in this headcanon he remains the wise and kind ally from act 1 and 2 and not some disgusting creep.