Okay, there are 4 FE universes.
(Games in Chronological Order)
The Central:Fates (age of the gods/dragons), Genealogy(exiting that age), Thracia, Shadow Dragon(Marth 1), Shadows of Valentia,New Mystery (Marth 2), and Awakening
Tellius: Path of Radiance then Radiant Dawn
Magvel: Sacred Stones
Elibe: Binding and Blazing Blade
Now, your direct answer is no. But, there are characters that have bounced dimensions. For example, Ike after RD left to traverse the known worlds to grow stronger, and as shown by Priam, and assuming his solo ending, due to no ending being cannon, lest IS specify it (or if there are children involved), he arrives in Awakening.
Now, back to Valter. The problem is that Ephraim rails him and just kills him, and I'm not sure he'd hold up relationship too long so no, other than there being no sign of Magvel dipping into the Central Universe, there's also the fact that he died.
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