Yes, Gladio had indeed arrived with Prompto by his side. It was easy to guess that this Gladio was not the real one.

Ignis effectively stands between the scene and Prompto, blocking his vision. He says nothing but the look he gives the blond... Don't watch. Don't listen to it.

"The memory is coming to a close Prompto. Focus on that. We're leaving." Please, let him be right.