This is all a matter of perspective. Terms like "well developed characters" and "basic characters" are defined differently by different people. And different people hold different expectations for what a well developed character has to do in a story. I personally think that the characters that show growth, change and learning are very well written. In addition to that, we as players/consumers of media should be given information that arouses emotions within us when we think about certain characters. Think about Texen, he is not important to the plot at all, (as far as I know) but when we interact with him the first time, we feel so angry at him for destroying Aleita's home and destroying Kenneth's memory. And when we interact with him the second time, we learn why he behaves the way he does, he wanted to be a person of his own making and not e remembered by the accomplishments of his sisters (Risa and Zumi). This makes Texen, in my opinion, a well developed character.
And I personally believe that Rejuv is filled with numerous well written characters both male and female. But I find the characters well written according to my own opinions and beliefs. Other people might think differently, and that is fine. To conclude, I would like to thank you @Ziggz for starting this discussion and giving me an opportunity to share my opinion. However, I would love to know your opinion on how these male characters that you think are basic, can be improved upon?