I ended up doing some research about how the ending works, and this is what I've found:
If you complete a character's sidequests, they won't die. If a bugsnak gets to them in the end sequence, they'll bat them away. If you DON'T finish their sidequests, the bugsnax will instead jump into their mouth, transforming a part. At the end of their sequence, if a grumpus is fully transformed, they'll fall apart and die. If a grumpus is fully transformed already, and you haven't completed their sidequests, I'm not sure if they automatically die or not.
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