Disclaimer: Characters/factions/items that were not mentioned in the Voltron franchise belong to me. I do not own any characters/factions/items that do belong to the Voltron franchise (e.g. Voltron Lions, Allura).
It takes awhile. A long while, about a few months in Altean time. Allura wished she hadn't spent that long searching for each one of the missing Paladins; there wasn't much choice in that matter though, being a fugitive of the Galra Empire. And the universe was a large and expansive place. Being flung to different corners of space, and trying to find five different souls and their robot lions is a lot harder than finding a mouse in a flower field. But she did it, she managed to find every one of them. For the most part, whole and in one piece.
For the other part, whatever experiences they had met with during their months apart, were not kind to them.