well, you are right about how the characters are from the inside
I know about how Renamon is due to the tamers adventure and all the mostly canon fanfare about her. Shepard, Samus, Midna, Gaige and the wanderer are the same as the fox because of how I wanted to know about them, understand their situations.
Look at this:
Renamon is someone who, at first, wanted to be the very best and meet someone who could be the same as her, Rika is the human version of the digimon. They both share that fire to never give up and go all the way to be at the top. But as the fox develops into the world, she can see things from other perspectives, her true nature appears as someone who has feelings and cares for others, she may look as a silent digimon, even cold from some perspectives, but that it is because she only trusts those who have an honest heart (example guilmon)
Shepard (my paragon with bits of renegade) has always tried tohelp everyone she could even though some have disagreed with her (*cough* council *cough*) she has an exterior of strong will and never ending determination, but on the inside she is just a mere living being like everyone which is mostly shown in mass effect 2 and 3 when she speaks with her trusted friends.
Samus has always been a silent and direct person, she barely makes some sort of comunication (other M isn´t a metroid gamefor me) but what she does is better than talking, she acts to show her message, she isn´t just a mercenary, the blonde has a deep knowledge about many planets and great part of the galaxy´s histlry, lore, governments, etc.. etc.. etc.. then again we can understand her almost personal disgust with space pirates because of the events when she was a child and was raised by the chozo to be the pinnacle of coexistence between species.
Midna as a princess of her kingdom is a serious person that would face anything to help it and also would give her everything to help others, yet she also has here mischevious side that makes her more as a same level person than a high nobelty being. She does more than what is shown in the game, that is what makes her more interesting to understand
Gaige is a hard one to look seriously because of the game she is being shown, but hearing the echo logs and things she says, you can understand that she is still a girl. The echologs show her origin in her planet as a genius who lives with her dad and doesn´t have friends (for what I know) and is constantly bullied by a rich girl. So her love for DT is more as she has a friend to trust than a mere robot of mass destruction.
The wanderer is probably the hardest to understand because dark souls 1-2 are extremely vague in terms of explanation, all the things that you have found is because of a lot of exploration and between lines information. But what is actually solid is that the chosen undead (you) is just like anyone, you can die with everything and get tired as anyone, each step to the goal is what makes you see that an average living being can become that chosen one that has been called in the bonfire

