Families- Well you can't live without them!
Goku's Family Tree
Goku is married to Chichi for all of the series. During that time We discover that Goku is Saiyan-Jin part saiyan part earthling human. Goku had two sons Gohan named after his grandfather and Goten which looks like Goku in his younger days. Goku's family isn't much his Grandfather Gohan and his Father name was Bardock. Goku was one out of two his evil brother named Raditz came to earth and warn that he is out stayed his welcome and that he was supposed to be destroying earth. We know nothing about his mother at all.
From there Gohan marries Videl Satan's daughter and has a daughter named Pan.
Chichi's Family is mainly Gyuumao her father which appears a lot in the Dragon Ball Z series.
Krilin's Family Tree
Krilin life changes especially his looks but He marries a cyborg named #18 a twin to #17. Anyway They have one daughter named Marron after Krilin's ex girlfriend. Marron would be part cyborg and part human child. That's about all there is to Krilins family besides living master Roshi on the island.
Bulma's Family Tree
Bulma's Looks also change a lot like Krilin but dumps Yamcha and has two kids with Vegeta once he has joined the team. Bulma's the one with the aqua coloured hair and a bad temper. She keeps stressing out over at everything even on Gohan and Krilin when they wimp out when getting dragon balls on the fake planet Namek. Anyway Bulma is the technician women and is the only one who knows how to fix things. Their children will be saiyan-jin and their names are Trunks he joins the team to fight Freiza also is best friends with Goten and Bra. Bra dosen't do much at all. Bulma's Father works for the Capsule Corp and appears in the series making Goku's ship to travel to Namek. Bulma's mum is the blonde curly hair women that greeted Goku. Both names are unknown. But her father is Dr Brief. Vegeta's past family is only known his father who shares the same name is a king and Vegeta is the prince of his Saiyan planet.
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