Yes. Whilst some would say his character became whole with the Boo Arc, most of his development towards that was offscreen as a result of a timeskip and I don't find his Final Explosion or admittance of Goku's superiority nearly as gripping as him pleading Goku to avenge he and the Saiyans. Vegeta's development was whole enough in the Freeza Arc and somewhat tarnished by his actions in the Cell Arc prior to Trunks' death.
However, I'd concede that his revival seemed inevitable from both a story and popularity perspective with the series still ongoing and would only work if the Freeza Arc or slightly after that was the end of the manga.