I try to do a pass through the script for each character (just like the actor playing that character would). I start with what I know about that character and what I've learned in earlier drafts of the script. Then I go through the scenes that that particular character is in, and look at the scenes from that character's point of view. What does s/he want in this scene? What obstructs her or him? What are her/his relationships with the protagonist and the other characters like? How do those relationships change? Is the character's voice consistent? Does the character have a characteristic kind of physicality? What attitude and POV does the character bring to each scene? Etc.
One of my favourite examples of a balanced film where minor characters still have strong attitudes, unique POVs, and individual voices is the 1974 version of
The Taking of Pelham One Two Three with Walter Matthau.