Yes, eventually

It actually takes you until mid-morning before you and one of the guards mutually spot each other. You're so relieved to be able to stop and so drained of energy and emotion that you just fall onto your knees, head bowed, and wait for a centaur to draw close enough to talk to. You don't have the energy to shout. It takes a few minutes, during which you just stare half-brokenly at the muddy ground under you. Eventually, you hear hoofbeats approach and a male voice calls out in Northern Trade-tongue, "Who are you and what is your business here? Speak quickly; trespassers are not tolerated in these lands."

You laugh hoarsely at the centaur's words and rasp out in Highlands Gallic, "Oh, believe me, I know all too well the price of trespassing in Starchaser lands. Take my life if you must, but please first tell the Council that Aidan Lostlorn has returned from Bannagh Macht and has important information that they need to know." The centaur gasps and takes a step backwards, and you lift your head to look at him with a rictus grin. "If you're not going to kill me here and now, may I at least have a blanket to wrap myself in and a dry corner to rest in until they deign to see me?" You let your head loll back down.

The guard doesn't respond verbally, but the killing strike doesn't come and you hear rapid hoofbeats heading back towards the village, then raised voices. You're not sure how long you wait there, kneeling there in the mud, but a familiar voice breaks you out of your daze.

"Aidan? AIDAN!" Brighid's mezzo-soprano washes over you, and you struggle to look up, to get to your feet and greet your friend, then all of a sudden she is there kneeling in the dirt in front of you and you are wrapped in her strong arms, your head pressed to her soft breast, her hair flung all around you as she bows her head over you and sobs with the emotion of the moment. She strokes your hair and croaks, "How? How are you here? How, you bastard?"

All of the emotions you have been suppressing catch up to you as Brighid holds you in her arms and tears flow from your eyes and start to soak your friend's shirt. "I died, Brighid. It ripped me apart. Limb from limb. It hurt ... so much." Brighid's arms tighten even more around you and you feel her tears fall into your hair. "I told you... I had a trick up my sleeve. You ... you can't tell anyone. Please, promise me. I'll make ... something up about how I got out. But I can't lie to you. I can't. You're my only friend and I can't."

"Shhhh, Aidan. Hush now," she says soothingly, "you do not have to say anything more. Your secret is safe with me. You came back to me, Aidan. I thought you were just telling me a sweet lie to make it easier for me to leave, but you came back." Her voice drops to a rough, coarse, emotional whisper. "You died, and still you kept your oath to me."

Know this: You have fulfilled your oath to Brighid Fireheart that she would see you alive once more. This oath, which would be superficial in other circumstances, nonetheless was fulfilled only through great hardship and determination on your part, and Brighid knows this to be true. Your relationship with her has greatly deepened as a result.

Congratulations! Your relationship with Brighid Fireheart has advanced from Trusted to Partner.
She now views you as someone who is beyond the question of trust and friendship. She believes she can rely on you for anything.

She straightens a little and pushes you back away from her so that she can look you in the eyes. Her beautiful emerald green eyes are rimmed with red from crying, and you can't help but slowly, carefully reach up to brush a tear from her cheek. She takes your hand and holds it against her face. Her voice is still coarse and emotional, but now there's a core of solid steel as she speaks words with the air of ritual about them. "Your honor is my honor. Your life is my life. Our hearts beat as one. Together we will meet what Fate has to offer, for from today we are Companions."

Something deep inside you compels a response, and you repeat the words back to her as you stare into the intense green flames of her eyes. "Your honor is my honor. Your life is my life. Our hearts beat as one. Together we will meet what Fate has to offer, for from today we are Companions."

Congratulations! Your relationship with Brighid Fireheart has advanced from Partner to Companion.
Having spoken the ancient oath together, the two of you are now of one purpose. Only a grave betrayal can break this bond.
Know this: The bond of Companionship is sacred in the Realms and conveys many benefits, both subtle and overt, but so too does it carry heavy responsibility. Always remember, words have power.

Brighid's arms circle you again, this time one around your shoulders and the other carefully threaded behind your knees. She stands and lifts you up into her arms, cradling you against her as she walks into the village. Your eyes close and the last thing you hear before you drift off to sleep is Brighid snarling at one of the guards, "If you point that spear in this direction, Owena, I swear to Brigantia's flames that I will take it from you and stuff it point first up your officious twat. This man is my Companion and any threat you make to him you make to me. One of you go tell the Council that he will be recovering in my home."