Kylira can spawn on any tile, usually close to the first town of Silajam. First time you meet them nothing happens, but second time you meet you always have a choice of where to send them.
If your Charisma is lower than 5, you can only make them leave the map forever. In theory there has to be a way to tweak your save file to make them your companion after that, but I can't seem to find it.
As for the Alma CG, you probably mean her portal art? To see it, you need to start Warlock portal quest. For this purpose you need to recruit her to your team while having your Magic stat at 4. You will be able to ask her to teach you portals. After that you need to travel to the first town when it's the morning or noon, and enter Town Square to Eavesdrop. More about her quest here: