Zelda will likely come back even though she should be replaced but it looked as if the Champions and the King found peace at the end of BotW so we may not see them again which perhaps would mean their VAs won't return... though we could still get the return of Yunobo's VA, man I hope not.
Riju, Teba, and Yunobo are voiced by the same actors as Urbosa, Revali, and Daruk, so there's a chance they could come back. The trailer is filled with imagery of death and spirits (mummified Ganondorf, luminous stones which are said to house the spirits of the dead, and the blue-green ghost energy)
and Aonuma said the game would be darker than MM, so I think there's a strong chance the Champions could stick around as ghosts, or that we'll at least get a mention of them.
Not too many characters had speaking roles in BOTW. Only really leaves Ganondorf as the major new addition.