So I asked my golden saint escort to follow me around, then I fast travel to passwall and she is gone. I waited for a few hours but she never appeared, will she respawn if dead? Or is it possible shes gone forever? Any help would be appreciated.

If you are in the SI, with an escort, they cannot pass Passwall. Though some have reported a glitch where Saint and Seducer escorts have come back to Cyrodiil. To get a Saint or Seducer in Cyrodiil, you must cast the conjuration spell for that particular person.