Moana might actually be a better example than Mulan or Frozen, because there's not even any inner turmoil outside of the very beginning.
Moana herself is just about the only person who doesn't have a character arc, she just gets better at doing the things she was already set on doing. Both Maui and the entire village of Motunui including her family need to learn that Moana is actually right about everything.
She's effectively an avatar of the ocean's will, and the more she leans into it, the better it goes for her.
I haven't seen Moana but this seems like the narrative arc of a lot of mythology, where the protagonist has to learn to submit to the will of God/the gods, or can only succeed with divine intervention.
Having watched Moana more times than I can remember (we have two young kids), I think Moana is a classic example of the monomyth. It is basically a re-skinned version of Star Wars:
1. She starts in the ordinary world but longs to go to sea. [Just like Luke Skywalker who wants to leave Tatooine.]
2. She initially rejects the call of the sea, and tries to fit in. [Just like Luke Skywalker initially rejects Ben.]
3. But the death of her grandmother convinces her that she must leave. [Luke Skywalker decides to follow Ben after his uncle/aunt are killed.]
4. She meets Maui, a lovable rogue, and convinces him to help, despite his reservations. [Luke convinces Han Solo to rescue the Princess]
5. They defeat a few lesser enemies. [Luke and Han defeat waves of stormtroopers.]
6. Finally, she must face the final test, but the lovable rogue decides to leave. [Luke attacks the Death Star, but Han decides to leave.]
7. In the final test, she realizes that she needs to give the infinity stone (I mean, the Heart of Te Fiti) to Te Ka, but not before the lovable rogue returns to help her. [Luke realizes that he needs to use the Force, but not before the lovable rogue returns.]
8. Moana returns as a Wayfinder. [Luke returns as a hero and a leader of the Rebellion.]
9. [Oh, and I forgot about the comic relief of Heh-Heh, who only speaks in chirps and sometimes gets her out of trouble.]
It might sound like I'm making fun of it, but I really like Moana. And I do actually believe she has a character arc. The unifying theme in Moana is "knowing who you are". There is literally a song about it! Moana doesn't know who she is at the beginning. Is she supposed to stay on the island or explore? Maui doesn't know who he is--he thinks he's powerful because of his magical fishhook ("Without my hook, I am nothing!") but Moana convinces her that he is a hero even without his fishhook. Moana helps Te Ka to discover that she is really Te Fiti. And when she returns to her island, she convinces her father that they are all voyagers.
Like I said, I've really watched Moana too many times!