Yes. Definitely.
During the King Piccolo part things get more interesting. Yamcha does a bit more, Master Roshi gives us some backstory, Tien becomes important, King Piccolo does evil stuff and at the end Piccolo becomes a character. After King Piccolo Goku grows up, there's another tournament and he fights Piccolo from DBZ.
I recall Colonel Black and Colonel Silver, but I don't remember Hasky. I actually liked the Red Ribbon Army mercenary Tao Pai Pai, he might have been my favourite RR Army character. But Captain Blue was a
and I really didn't like him.
Also just thinking back there was a protagonist called Launch who is like a weird bipolar lady. The heck ever happened to her? Last I recall she ran off with Tien or something but they never showed her in DBZ.