The principal voice cast are normally first, doing multiple takes and allowing for improv at the recording sessions. The final voice performances are edited together from different takes, and are the basis for the final animation. The voice actors may have a simple animatic to help them get the timing right, or just a script and their imaginations.
If it’s practical, putting dialogue partners together to record shared scenes helps get the flow of a conversation right.
Additional voice cast such as translated versions are often much more constrained by the timing of existing animation. Sometimes a film can be re-rendered for translation (For instance, [Zootopia](https://www.mentalfloss.com/article/76784/zootopia-has-different-news-anchors-different-countries)) but it’s not really common.
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