I'm not entirely sure if this is what you're asking, but here's what I know about returning companions:
As I'm sure you're aware, certain companions rejoin the Alliance through normal gameplay. Unfortunately, not every companion is available through story or alliance missions, and will not appear unless you non-canonically force them to.
Any companions that don't return during the story can be recruited using the Companion Locator Terminal in the Alliance Headquarters, in the Commander's quarters. It can be found in the small room off the west side of the Alliance War Room, and is the circular machine with the galaxy map displayed above it.
Using the same terminal, any companions you lost during KOTFE - or skipped by using a KOTET character token - can also be non-canonically re-recruited by selecting the 1st option in the Companion Locator Terminal, that reads "I want to bring back companions lost since Knight of the Fallen Empire." (and yes, it says "Knight", not "Knights" - I assume this is a typo).
Other than those instances, no companions will rejoin you at any time that you aren't explicitly given the option to recruit throughout the story.
I hope this helps!