I've always considered Goku and Master Roshi to be ESFPs, albeit scaled slightly differently in their stereotypes. Gohan and Future Trunks are spot on, though. How are Android 16 and Whis those types?
That's a common mistype for Goku but the series shows evidence of Ne dom in him and inferior Si, I'll explain his use of Fi + Te later on since I don't want this post to be too long. He constantly sees new possibilities always to improve as a martial aritst/imagines new potential fighters to face, has a wide variety of techniques, sees potential in himself and others and likes to bring it out of them, head in the clouds and bad with details, comes up with ideas in battle, combines techniques, managed to learned the kameha wave with intuition in one day after seeing it once, typically likes to move on to the next thing and doesn't revel in the moment and doesn't often celebrate when he makes an accomplishment in the present day, Ne over Se, he loves to fight simply because he's a Saiyan and its in his blood, a trait Vegeta also shares as a pure blood Saiyan and he's ISTJ, an Si users and because he has a deep love and passion for martial arts and constantly wants to self-improve, a lesson Master Roshi taught him after beating him as Jackie Chun and telling him to theirs always strong guys out there so keep training, a message that you still see today in Dragon Ball that's core to the series and Goku's character, which is one reason why I type Master Roshi as ENFJ, he sees potential in everyone and everything to grow, Extroverted Intuition. Inferior Si, he's bad with details/environment, doing mundane things, and has a bad memory and is very forgetful, (Si) inferior, like forgetting Chi Chi and her marriage promise and forgetting to take the medicine in the Androids Saga to stop the heart virus. Goku's an idealist as well and one of the only characters who's still pure of heart the whole show next to Gohan, Goku's much more of NF along with those traits I just mentioned for him. I could on further to explain Goku being ENFP but I'm tired and not in the mood for writing a long post so I'll keep it brief. Also when I discuss this topic I wonder how many people have seen DBZ Kai or read the manga/Japanese anime in the back of my mind over the awful old school Funimation dub, or even Super and it's faults, and if you have seen those properties it just further proves Goku's character is vastly misunderstood in the west regardless of what version you watch, check out this video discussing this if your interested:
Son Goku: The Misunderstood Character
I used to think Master Roshi was ESFP, but I realized he was ENFJ after analyzing him. It took me awhile to type Master Roshi lol, somebody convinced me he was INTP even, haha. Whis I may be wrong, he's not a character I overly care about and analyze to death or anything so I'll admit I'm wrong on him maybe he has Ni, I looked him up it seems some people out there put INFJ or INTJ for him, so maybe he has Ni, makes sense. I just felt ISTJ vibe as soon as I saw him on screen in Battle of Gods back then and ever since watching him I felt that was still correct, but I could see Ni as well, so I'm open on him.
Android 16, I guess some people think INFJ cause of the speech? But that's stereotyping, haha. ISFJ because he's the only one out of the three androids 18 and 17 and him who's dead set on Goku, matching his android programming instincts, it actually makes sense a killer android with a programmed mission would be an Si dom since Si users follow through with their plans till the end. They stick to their guns, but he has a soft heart and empathetic so ISFJ makes most sense for him.