I was wondering where the camp talk option was? Maybe I missed it or maybe it's not there and I'm only allowed to talk to them in the places they are at. But I'm unsure so please tell me.

Yes you can talk them only in the places they are at. For plot reasons, many stays in Grimoire (Vaeril, Galan, Dasyra) but the others need to stay in their own places. So that's the correct behavior :)