I think it's already kind of hasty to imply Yamato who for all intents and purposes was introduced during the middle beginning of the end of Wano can be considered underdeveloped.
In my opinion, he did it. Oda pulled it off, he introduced a character so out of left field that you completely forgo all preconceived notions how it concerns how this arc would go and who would be leaving with the crew. Because whether you think she'll join or not, the audience is invested in the Yamato character that exceeds the investment of a side character. Her backstory and character would be designed in such an intricate way that what very little we have received seems like a lot already.
Abused by her depressive warmongering Father since adolescence, the secluded Daughter of a Yonko who idolized his mortal enemy so much so she wants to be a Man, desires to break the confines of her against her own will imprisonment to go out to Sea explore the world and fulfill whatever ambitious endeavour her idol never got to complete due to the occupation of his home Country which she's never left. Inspired by the next generation of Pirates because of good apples like Ace so she rather explore the world with his younger but more ambitious baby brother.
That's a Strawhat backstory through and through. I used to think Oda laid things a little on thick with how much he did to tie Robin, Brook and Jinbe to the crew's journey out of necessity but he seems to be doubled down here with Yamato concerning pretense. For instance whatever assumptions or reservations we have about what the dawn of the world means and who will be our window into this mystery is just as much prevalent with Yamato as it was purposed to be with the minks Carrot and Pedro. Here we have a character who was closer to the tragedies in a way that it made her empathize and idolize Oden and what he stood for, this transitioned into chasing what he was chasing. That's verbatim every other Strawhat's story that segagaway into why they decided to set sail with Luffy in the first place.
Their ambitions and dreams are shaped by their own tragedies and those who inspired them. Yamato just reached the conclusions sooner that all the others came to eventually because she's already aware of the stakes but has been held in bondage to Onigashima, all she could do is wait and prepare. So yea she already knows Luffy is amazing, and the crew by extension, she doesn't need convincing and maybe that does seem different but it makes sense with what Oda has revealed about the character's backstory through her interactions with Ace, Kaido and Oden's ghost in his Journal and legacy.
One could argue the only questions are what the role will be on the Sunny as of right now and IF another flashback is even necessary.