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I wonder this too, because I only had the quest for Corisandre and she got her special ability afterwards, but I haven't got any quest for Orion so far. I'm playing on the second map.
Edit: I stand corrected, you can travel back to the earlier zones later and get the lockpicking done then, doesn't change the fact it comes super late into the game, but you can freely travel to all zones to do pick locks.
2nd chapter you'll pick up all your companion quests after a big fight veran the angel, you'll end up doing a lot of side missions you can go to the empire after talking to all your champions.