Gulcasa, and technically the Hero Badge, are inaccessable at the current moment, so don't worry about them. Kylier can fire her cannon from anywhere on that strip of land she's trapped on, so don't worry about missing a shot to get the Cat's Eye. You can also union with her with proper movement. If you stole from Baldus in BF13, he will be unequipped, meaning he can use Ace Guard against you because the "No Skills" effect is gone, however, his stats will be lower, except for his TEC which will jump up.