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Simple question and I am unsure of the answer:

If characters can have command squads or honor guards, can they still join a unit?

They are separate units and have no requirement to join each other - that rule went the way of the Dodo around about 4th edition.

Yes. The command squad an Libby are two separate units, there's no requirement to join them together. You could even take a Command Squad for the Libby, attach the Libby to a tactical squad, and throw a chaplain in the command squad.

What I mean is: can the Librarian and his command squad join a unit of tactical marines as well?

Ah, I see.

The Command squad cannot join another unit. The Librarian can join either the command squad, or the tacticals, and move between the two over the course of several turns, but may not be joined to both at the same time.

There is an exception to this in the case of Tau Commanders and their drones, which can join units as a whole entity.