What the signs of good characterization?

Good and bad characterization can be discussed a lot these days, but are there clear signs that point to when good characterization has been achieved?

In this video, Jonah shares some of his thoughts on what those signs could be.

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And the link to Jonah's first book; Mykal Orion and the Station of Thieves:
https://www.amazon.com/Mykal-Orion-Station-Thieves-interesting-ebook/dp/B06Y2LGSY