Who are some of the key supporting characters in the Optimus Prime IDW run?

Key supporting characters include John Barber's original creation, Paladin, a dedicated but often conflicted Autobot enforcer; Buster Witwicky, a human ally who provides a unique perspective; and various members of the Cybertronian Council, like Ratchet and Prowl, who often challenge Optimus's decisions. Recurring characters like Starscream and Soundwave also play significant roles as antagonists.