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All you need to do is go far enough to where it triggers the "You've discovered Concord" then you can just go back to Sanctuary and he'll be a companion.
Hopefully you can follow the directions I gave you, seeing as you can't seem to follow Codworth's directions
You weren't clear about that
Talked to the other settlers like Preston, the Repair guy (Can't remember his name) etc?
Some times it can take a couple of minutes for a quest to 'register'
Everything else besides, you can get other robot partners like Curie, Ada, Jezebel or one of your own making, if you really want one.
I'm curious, did you stop at Red Rocket and get dogmeat or did you skip red rocket and go to straight to Concord?
(I pick up the available companions and then I dump them all at the Red Rocket, where they aren't underfoot, but I can get them if I want to.)
+1
Just discovering Preston and finishing that quest is the trigger to unlock Codsworth. As you said you never have to set foot in the museum.
Codsworth does not count towards the population count of Sanctuary unless you assign him to it. In other words if when you get to the settlmeent selection screen dismissing him and jsut cancel out he goes to Sanctuary by default and does not count towards the population (you cant assign him jobs either though.) Dogmeat and Ada work the same way with Red Rocket.