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Not sure exactly what happened but you probably killed one of his buddies or something.
In chapter 4, I talked to Barl (with both characters that can do that), but I didn't get the Liquid Agility (not immediately, nor at the end of the chapter). I'm in chapter 5 now and that item isn't anywhere in my inventory (not even in the storage). Was this changed in one of the patches?
Yes, it works on any unit that doesn't already have the skill.