Piccolo is the spawn of a demon, yet former god. enthralled by the very motivations an memories of his father. On introduction we know him to be the same Demon King Piccolo hell bent on ruling, killing Kami(god), an the mortal(Goku) who did him in. Even after several losses to Goku Piccolo hides away somewhere plotting an training on how he'll best Goku, an than conquer the world.
Enter Z an the struggle with the Saiyans. Piccolo acts in the sole interest of getting himself closer to rule, by offering a temporary partnership with Goku(the only other person on his level) to rid this new threat to this throne. we learn he's an alien,
spends months with Gohan the very quintessence of pure an innocence... the saiyan's arrive an he makes the ultimate sacrifice for said innocence....namek happens giving him two reasons to go from conqueror to protector. enter Androids where he's made full atonement an for the sake of 'OUR' not 'HIS' world he merges again with Kami(god) to look over the planet once more.
TL DR That is Piccolo's entire character arc is of a Fallen Angel's return to holy prominence.
Which you would know if you didn't just cast dbz aside as another fighting manga. Akira Toriyama doesn't have great plots, sure. But he does damn fucking well on his characters
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Nigger... We did not settle this. This like Piccolo an Trunks was an oversight because people think Dbz is just fighting, badass transformations, an yelling.
Goku's arc is throughout the ENTIRE SERIES. Be it dragonball, or Z. But to specifically mention Z
The Freeza Saga has probably Goku's greatest evolution as a character. his struggle with his Saiyan heritage. though not really mentioned much, but it's obvious when you look at the series in hindsight. From the day Goku learns he's an alien, he's always denying it and exclaiming that he's a human. All of that denial leads to a great payoff during Vegeta's death.
Goku: (As he buries Vegeta's body) I think I understand you now. You weren't grieving over your own death, or because our home planet was destroyed. You were grieving because he turned you into what he wanted you to be. You never had a chance to be anything else. Well I still respect you. I know you made a lot of mistakes, but now I see that it wasn't all your fault. You had the fiery will of a Saiyan. Please share that with me now, 'cause I need it. Thank you for saving my son's life and buying enough time for me to recuperate. I'll do my best to carry out your wish. (to Frieza) It's true. Vegeta's right. You have no honor. For him. And for everyone else you've destroyed, I am going to finish you.
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Volibear