Mine are Claxter, Temrash, and Derrel.
Claxter is a young Andalite Warrior, though he was actually promoted out of need instead of due to exemplary abilities. He's a little cowardly, though not as much as he was when he first showed up. He's had some character development. He's under the service of Ossanlin, and is friends with another Andalite named Gremyyt. Gremyyt is an adult, possibly around middle age, though I'm not sure. Their relationship is complex. He's also friends with Efaen, though their relationship is complex too.
Derrel is a 29 year old scrawny homeless man who is currently a controller, though his Yeerk is not my character. He was brought here because of a sub plot, had his memories erased, and was convinced to join the rebellion instead of finding a way home. He's from a timeline where the Yeerks are invading, though I haven't specified the exact point. Knowing his luck, the final battle on the Pool Ship is probably happening right now.
Temrash is an old war veteran who is a Hork-Bajir controller. His host is Jagill. He might be leaving soon, due to events happening that leaves his story arc possibly finished. I kind of like Claxter better now anyway.