The NSW Blues representative had his left shoulder heavily strapped on Tuesday but got through the session with ease after spending most of the pre-season in rehab away from the main group.
Captain Adam Reynolds and prop Payne Haas both trained freely after last week suffering minor ankle problems, which coach Kevin Walters told AAP were not as serious as first thought.
The Broncos have missed the finals for the last three seasons and will need Staggs, who went under the knife post-season, at his best in 2023.
Meanwhile, outside back Jesse Arthars has returned to the Broncos after being loaned to the Warriors for 2022.
He wants to play centre next season, the same position in which Staggs and England international Herbie Farnworth are certainties to start round one if fit.
"Tones is massive for this team and one of our senior leaders," Arthars said of Staggs.
"This is his second defensive session today and he will get more reps in going into Christmas and then in the New Year. I am sure he will be flying into round one.
"I am trying to build into being a starting centre. The competition at the Broncos for spots is high but I knew that. I am looking forward to the challenge."
Brisbane had settled on Farnworth and Staggs as their first-choice centre combination in 2022 so allowed 24-year-old Arthars to join the Warriors.
"I feel like I got to play a few more games and add to my experience," Arthars said.
"I enjoyed representing the Warriors as well, being a Kiwi kid. That was a team I followed when I was young so I got to go back to New Zealand and see my family as well.
"I had a deal in place to come back (to Brisbane) and I was always going to honour that.
"I really enjoy the culture that Kevvie (Walters) is trying to build. I was here in the tough times and I want be here when we start winning."
