Remember when Balthazar was confused about the Llama incident? “What was that?”
But they had witnessed it before, when it happened.
UNLESS!!!!! They didn’t do it YET!! from their point of view!!
theory time!! after many adventures with Milo, at some point they stop, but rather than never seeing Milo again, they sort of follow him along his timeline, and manage to get their other Pistachio missions to line up, so they can see him again.