Numa first appeared, as a small child, in Innocents of Ryloth (2009) and is again voiced by Catherine Taber. As a grown up, she has the name of one of her Clone Trooper rescuers, Boil, written in Aurebesh on the armor covering her upper left arm as well as the 'bat' crest that Boil wore on his helmet on her shoulder piece. There are faded illustrations on her tunic resembling the Tooka doll she carried as a child.
During Hera's conversation with her father, as she becomes more agitated, her accent slowly slips closer and closer to one resembling real world French, which has been designated as the go-to accent for Twi'leks while speaking galactic basic (English).
Cham mentions that Hera first found Chopper during the Clone War. This means the two of them have been together since she was a little girl. This is confirmed when a teenage Hera and Chopper appear in "Devil's Deal" and "Rescue on Ryloth".
When Star Wars Rebels was first announced, fans immediately noticed that Hera had the same last name as Ryloth freedom fighter Cham Syndulla who appeared in The Clone Wars. At first it was announced that Cham was Hera's uncle, but later Pablo Hidalgo revealed the characters to be father and daughter.
Cham's shoulder armor, Gobie's gauntlets, vambraces and holster and Numa's arm armor and belt are all pieces salvaged from the clone troopers of Ghost Company as seen in Innocents of Ryloth (2009).