Oninaki - Daemons

There are 10 Daemons to collect. You will find them by crossing the Veil and interacting with them and they are presented with green marker on the map. They are very hard to miss.

Aisha
You will start with her already as a part of your team.

Zaav
Automatic story recruit before first boss in Taddan Plains - Raom Meadows.

Dia
Pick her up in Kiro Marsh - The Sook Fens next to teleport #2 (Cross the Veil with L2)

Gavod
Automatic story recruit. After you beat Kushi you will get his Daemon.

Wil
Lake Lud - The Sunken Ruins - Near Teleport #1; a little bit northwest from the start you can find blue ball which you need to beat to cross the Veil. Return a bit and pick Wil up.

Izana
Automatic story recruit after Mayura dies and you send her spirit.

Rigan
The Grewan Deepwood - Kiraq, Right of Teleport #1

Lucika
Inside the Ehir Palace - Inside Palace north of teleport #1 in Minob Plaza. Climp up the stairs and cross the Veil. Left balcony side has Lucika.

Treize
Dacaray Mines - Shadestone Quarry, just right of Teleport #2.

Zephyr
Get him at The Mazzen Mountains - Mt. Teora - Northwest of teleport 1#. First kill the big monster so you can cross the Veil, cross it and activat him.

Jex

Start "Seeker of Truth" quest in Szaka - Deto, north of teleport #1 in left alleyway. (Chapter 4, Part 3 - When you return from world of Oni).
When you beat the game and load clear game save, enter The Timeworn Keep - Sanctum of Rebirth teleport #1. Cross the Veil and finish quest/take Jex.