Does Graystripe return in the Warriors series?

There is a manga series (japanese Cartoons) that explains how graystripe gets home. Also, If you read Warriors: The Power of the three, Graystripe comes back at a gathering. Twolegs take him. But then he escapes with another kittypet Millie and comes back to the clans during a gathering. 1)Graystripe is captured by Twolegs while saving his clanmates 2)Becomes a kittypet 3)Escapes with Millie(a kittypet that he met during his stay with the twolegs) 4) Comes back to the clans during a gathering