Joyleaf was younger than Bearclaw, but by how much, I am not sure. Bearclaw already had a beard when he Recognized Joyleaf and it seems to me wolfriders only get beards when they're getting older.
I think characters like Voll, Savah and Ekuar do not Recognize simply because that is not the role reserved to them in the plot. Theoretically they could, and who knows, perhaps Savah and Ekuar will Recognize each other in the next issue of ElfQuest and have a baby called Buttercup. (I know this is extremely unlikely, but theoretically, it would be possible. Apart from the baby's name, Savah has better taste.)