مَنْ لَقِيَ النَّبِيَّ
One who met the Prophet ﷺ.
Liqāʾ means an encounter or meeting. The definition does not require prolonged companionship: a meeting with the Prophet ﷺ while in faith establishes the basis of Companion status.
Merely existing in the Prophet's lifetime is not sufficient. Both the meeting and the person's state of belief are relevant.