In Breath of the Wild's main game, you don't get to see much of Mipha, Revali, Urbosa or Daruk. If you play through the new DLC, The Champions' Ballad, you do get some new cutscenes, though it still might not feel like enough. Turns out, you can challenge the Divine Beasts again in the DLC for a bunch of new exchanges, and they're very easy to miss.
GameXplain captured 11 minutes' worth of new Divine Beast dialogue in the new DLC, and it's well-worth a listen (especially since I assume most of us won't be re-challenging the Divine Beasts any time soon). Some of the dialogue is a hoot, but some of it is depressing, too. Revali for example remarks that probably nobody in his village knows him any more, though some of his other dialogue muses on how much he would have liked to fight you, because of course.
And, geeze, it's just heartbreaking to hear Mipha reminisce on old times:
And Urbosa teases you about the costume you use to visit Gerudo Village:
Just more proof that the Champions are the best.