Unlocking potentials with inherited skills

I'm not sure what you mean, but if you are asking if your unit learned inherited skills and you unlock the character with inherited skills, will they still have inherited skills? Then yes they do. My Robin(M) had 6 inherited skills, 2 learned (Fury 1 and Brash Assault 1 at the time) and he retained it even after I brought him to 4 Star and 5 Star.