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Since the universe of Star Wars is a similiar Corporatopia as in Rimworld, maybe there's SOC-like Personality Cores, that just adapt to the available actuators and sensors (there was a self-learning 4-legged robo-spider 10 years ago already, that teaches itself walking no matter what).
In Legends canon, droid sapience was accidental. It was the result of a worm that infected droid brains, and was passed wirelessly via shortband communication frequencies. Once it escaped into the wild, there really was no stopping it since by that point it was self-writing and evolving, like a real infectious disease. Wiping droids' memories regularly is supposed to prevent personalities from forming.
Every droid can develop a personality if you leave them alone long enough. R2 is one of the rare droids in the canon that has never had his memory wiped. Ever. Obi-Wan had 3PO wiped because he's shit at keeping a secret, but R2 knows how to keep his trap shut.
I can't remember which book it was, but R2 was reminiscing about his life experiences with I think BB-8. Talking about how he feels like it's his duty to be an observer. A recorder, someone who's close to history shaping events, and will always remember the moments that made the future. Which I think was cool.