For Yamcha, you can focus on his growth from being a bit of a comical character to a more serious and respected fighter in the context of his relationship with Frieza. Maybe he learns from Frieza's cold and calculating nature how to better strategize in battles. For Frieza, his development could be about him learning to care for someone other than himself. He could start to see Yamcha as an equal, which is a huge shift from his usual superiority complex.
I recommend the book "Possibly a Fake Silver Soul". It tells the story of Jiang Cheng, a transmigrator, who met the owner of Xinghai District and his girlfriend, Jiang Hua, who were traveling in the universe in the dragon vein of a certain planet. Later, he came to Earth and met his teacher, Yoshida Shoyo, who had influenced his life. He also met a group of friends. This included the transmigrator Okita Soki. This is a Silver Soul Doujinshi novel, don't miss it. I hope you like this fairy's recommendation. Muah ~😗
You can also make him have a unique role in the story. For instance, he could be the one to discover a new threat to the Earth before anyone else. He then has to convince the other Z - Fighters to take this threat seriously. This would put him in a leadership position and make him stand out more.
Gintama is purely fictional. It's filled with imaginative characters and scenarios that are not rooted in real-life events. The creators crafted a unique and entertaining fictional world for the audience.