I'd like a confirmation of a fact about colimits and adjunction; the motivation is that I think that this fact is used implicitly sometimes in Kerodon, but I've never seen it written out. $\require{AMScd}$
Let $C'\subset C$ and $D$ be categories; assume that $D$ is cocomplete and that the inclusion is full and preserves colimits. Let $G':D\to C'$ be a functor, and let $G:D\to C$ be the functor $G'$ followed by the inclusion. Finally, let $F':C'\to D$ be a functor left adjoint to $G'$. Observations:
- If, fixed any $c\in C$, there is an isomorphism $D(Fc,-)\to C(c,G-)$ in $Set^D$, for some $Fc\in D$, the rule $c\mapsto Fc$ extends to a unique functor $F:C\to D$ left adjoint to $G$.
- Given $f:c_2\to c_1$ in $C$, the morphism $Ff$ obtained in point 1 is the unique that makes the following square commutative: $$\begin{CD}D(Fc_1,-)@>\sim>>C(c_1,G-)\\ @VV-\circ FfV @VV-\circ fV\\ D(Fc_2,-)@>\sim>>C(c_2,G-) \end{CD}$$
- Fixed any $c'\in C'$, clearly $C'(c',G'-)= C(c',G-)$ in $Set^D$.
- The functor $(-\circ G):Set^{C}\to Set^D$ preserves limits.
Claim. Assume that every $c\in C$ is equal to $\operatorname{colim}_{i\in I} c_i$, for some small category $I$ which depends on $c$, indexing a diagram in $C'\subset C$ (so the $c_i$ are in $C'$). Then $F'$ extends to a functor $F:C\to D$ left adjoint to $G$.
Proof. Fix $c\in C$, so that $c=\operatorname{colim}_{i\in I} c_i$, and all $c_i$ are in $C'$. For any $c_i$ there is an isomorphism $\gamma_i:D(F'c_i,-)\to C'(c_i,G'-)=C(c_i,G-)$ in $Set^D$. These $\gamma_i$ form a morphism of diagrams in $Set^D$: in fact, if $h:i\to j$ is an arrow in $I$ and $f_h:c_j\to c_i$ is its image in $C'\subset C$, the following squares commute thanks to the adjunction $F'\dashv G'$:$$\begin{CD}D(F'c_i,-)@>\gamma_i>>C'(c_i,G'-)@=C(c_i,G-)\\ @VV-\circ Ff_hV @VV-\circ f_hV @VV-\circ f_hV\\ D(F'c_j,-)@>\gamma_j>>C'(c_j,G'-)@=C(c_j,G-) \end{CD}$$
Since the operation of limit is functorial, there is an isomorphism $\lim_i D(F'c_i,-)\to \lim_i C(c_i,G-)$ in $Set^D$.
Surely there is an isomorphism $\lim_i D(F'c_i,-)\to D(\operatorname{colim}_iF'c_i,-)$ in $Set^D$, which commutes with the canonical morphisms. There is as well an isomorphism $\lambda:\lim C(c_i,-)\to C(\operatorname{colim} c_i,-)=C(c,-)$, such that this canonical triangle in $Set^{C}$ commutes for all $i$:$$\begin{CD} \lim C(c_i,-)@>\lambda>>C(c,-)\\ @VVV @VVV\\ C(c_i,-) @= C(c_i,-) \end{CD}$$ Therefore the same triangle precomposed by $G$ commutes in $Set^D$:$$\begin{CD} \lim C(c_i,G-)@>\lambda G>>C(c,G-)\\ @VVV @VVV\\ C(c_i,G-) @= C(c_i,G-) \end{CD}$$ By point 4 the left column is indeed made by the limit of the diagram $(C(c_i,G-))_i$ with its canonical morphism, so $\lambda G$ is an isomorphism commuting with the canonical morphisms.
At this point, choose once and for all a small category $I$ for each $c\in C$, such that $c=\operatorname{colim}_{i\in I} c_i$, with all the $c_i$ in $C'$; in particular for those $c\in C'$ choose $I$ as the terminal category, i.e. express $c$ as a trivial colimit of itself. By the previous arguments, setting $Fc:=\operatorname{colim}_{i\in I} F'c_i$ on the objects $c\in C$, there is an isomorphism $D(Fc,-)\to C(c,G-)$ in $Set^D$ for all $c$.
By point 1, the only thing left to check is that the definition that we will get for $F$ on morphisms agrees with $F'$. So let $f':c'_2\to c'_1\in C'$. The "square" $$\begin{CD} D(Fc'_1,-)@>\sim>>C(c'_1,G-)\\ @. @VV-\circ f'V\\ D(Fc'_2,-)@>\sim>>C(c'_2,G-) \end{CD}$$ by our definitions is exactly the "square" $$\begin{CD} D(F'c'_1,-)@>\sim>>C'(c'_1,G'-)\\ @. @VV-\circ fV\\ D(F'c'_2,-)@>\sim>>C'(c'_2,G'-) \end{CD}$$ so the morphism $Fc'_2=F'c'_2\to F'c'_1=Fc'_1$ that we get is $F'f'$ by point 2.
Regarding Kerodon: look for example at Proposition 1.1.6.19. It really seems, to me, that the proof suggested by the author is to apply the claim above with: $C'\subset C$ the inclusion of connected simplicial sets into simplicial sets, $D:=Set$, $G$ the functor sending a set $J$ to the constant simplicial set over $J$, and $F'$ the singleton constant functor.
Assume $F\dashv G$, and $i : C\to C'$ is fully faithful(1) and dense(2).
This is slightly more than what you ask: every object of $C'$ is a colimit of objects of $C$ in a way that you can control. Now, assume that the extension $F' : C'\to D$ is the left extension of $F$ along $i$ (so again, this is slightly more: $F'$ is not an extension, it is a canonical extension).
Because of (1), $Lan_iF\circ i\cong F$, and because of (2), $Lan_ii=1_{C'}$. But then, you can obtain a candidate unit and counit for $Lan_iF\dashv iG$ as follows.
Counit: compose $$ Lan_i F \circ i \circ G \cong F\circ G \overset\epsilon\Rightarrow 1$$
Unit: compose $$ i\overset{i*\eta}\Rightarrow i\circ G\circ F \cong i\circ G\circ Lan_i F\circ i$$ which mates to $\bar \eta : Lan_ii\Rightarrow i\circ G\circ Lan_i F$, i.e. to $1_{C'}\cong Lan_ii\overset{\bar\eta}\Rightarrow i\circ G\circ Lan_i F $ thanks to (2).
I am confident the zig-zag identities for $Lan_iF\dashv iG$ can be proved with some patience...