So I was disappointed that if a character died and you finished the quest with the surviving member when you play through the dead character can never get the perk they missed. So my questions: 

1) Is there a way to get them this perk?

2) If you get new characters and play through these can they get the perks?

1) wait for patch coming this week. But it's not retrospective so you may have to start a new character.

2) as it is, if you die you are likely to face the problem again at the crucial level up when you get feats awarded. Best wait for patch or play at your own risk