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Well, the guardian angel will, for all eternity, be with us when we go to heaven. This is clear because God gave us these angels personally. Imagine that you have a friend who has been so faithful to you all your life. You would cherish this friend, and you would desire to see him in heaven, as you desire to see your brother, and you would desire that he will also be in eternity. And we believe that we will be in heaven seeing our parents, our brothers, and our friends, assuming that they are saved. There in heaven we will meet them, and even more so our good brother and guardian angel who so faithfully served us and protected us. It is sure that we will see him in heaven.
Those who will be condemned to hell, of course, will not have the holy angel with them. The angel will not go to hell because there is no presence of holiness and no presence of God in the one place where God is not present as such, and therefore not the angels.
Regarding purgatory, it is difficult to say, but I can assume that the souls in purgatory are aware that they have guardian angels, and probably they can invoke them while in purgatory for help. It is possible that God allows, in some cases, the guardian angel to visit some souls in purgatory. This is not excluded. It could be. But we have no official teaching. This is only a pious opinion, which is possible, and which is not contrary to the faith. And we can personally hold this pious opinion.