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Does a captain have to accompany his command squad at all times?.

If you're talking about Space Marines, no, he doesn't.

(Not sure whether the Imperial Guard leaders are called captains or not, or what their rules are.)

No point buying the squad if you aren't going to use it with him.

Defenatly not. If you deck out the command squad, it would be overkill to stick a captain in there as well.

The captain is free to join and leave the command squad at any time, doesnt even have to start near them.

Thanks guys and yea I'm going to give every guy in the squad power W and storm shield along with captain. Kind of expensive but in bigger battles it should work nice when people are worried about shooting the terminators in front of them first