Like Erma from GXP, Acha is a Wau. And was given to Seina Yamada as a bride by her people. And she'd have become an outcast if he refused to take her. She's a frankly adorable and lesser known character that got her animated debute in: Tenchi Muyo! GXP Paradise Starting. Being the Erma fan I am, I had to make a gallery of Acha too. But a SFW one of course. Wau have both feline and canine features. So it's hard to describe them as one or the other.
Willie29 : Kinda. Tenchi Muyo! GXP Paradise Starting. But it's a bit too far past original GXP to be a season 2. And GXP blurs into regular Tenchi Muyo more as the story progressed, as several of Seina's kids married several of Tenchi's kids. Seina made a good number of appearances in Tenchi Muyo season 5, which takes place after Paradise Starting. A proper season 2 of GXP would show the period of Seina when he was in Reinza, and learned magic while stranded on a certain planet. One thing we found out from Tenchi Muyo season 5, was that the mother of Seina's first wife Kiriko majorly has the hots for him. And you see a lot more of that in Paradise Starting. The Tenchi Muyo animes don't seem too inclined to release in chronological order either, as War on Geminar came out long before several other releases.