While Kirkman holds creative control of it, Daryl is part of AMC. Not to mention Daryl was not even created by Kirkman in all technicality, he was brought onto the show in a role created for Norman because they liked his acting.
A. Daryl will never be in the comics, as Kirkman has said many, many times.
B. Daryl is not as much Kirkman's creation as characters like Rick and Glenn.
C. TTG occurs in the comic universe, so Daryl will likely never appear in there either.
D. Introducing Daryl in any, literally, any other medium would cause a HUGE divide in the fandom. That's one of the only good things about Daryl, he's been kept to ONLY AMC licensed stuff [and McFarlane Toys for the action figures]. AMC cashes in on Daryl.
E.[xtra Point] Daryl's story can only stand alongside Rick, as proven by the complete flop of Survival Instinct. I see no feasible way to just magically make Daryl appear in the comics that would keep things organic. So, the day you'll see Daryl in anything not directly licensed by AMC is the day that AMC sells Daryl Dixon [which seems very far off].