How Do Pantsers Develop Characters?

Here's the latest from Jami Gold, Paranormal Author :

Every story we write might need different approaches, and knowing our various writing-process options can help us be flexible to those needs. As I mentioned in that post linked above, a few weeks ago, I was a guest on the Keystroke Medium podcast, talking about story structure and beat sheets.

However, despite being known for my story structure and beat sheet tools for planning/plotting a story, I actually fall closer to the pantser end of...