Hmm some good ideas for sure. Here is
Truth Seeker Doraval
So, two possibilities we've touched on:
1. All share a mutual run-in with the Rust Brothers. Maybe Daela, Doraval, and Askiena come across Aurae and Mawkhauser as they fled the Rust Brothers who intended to hold them captive - then faught off the pursuers together? Or did Aurae and Mawkhauser find their way to the village the others are from where they sought refuge, the Rust Brothers followed and put the village to the torch?
2. Plundered the Same Dungeon - as outlined above. Daela, Doraval, and Askiena have been traveling on their own for a bit, as have Aurae and Mawkhauser. The two groups run into each other while exploring a dungeon and events draw them together - maybe the denizens of the dungeon proved too much for one group to handle on their own and they agreed to work together and split any treasure, then realized they worked well together and stayed together after?