PSP has Tales of the World: Radiant Mythology, which is more of an escort title (think it's kinda dungeon-crawling?). I've heard it wasn't too hot but its upcoming sequel (Radiant Mythology 2) is apparently showing a lot more promise with fifty playable characters from across the series (I think all of Phantasia's cast is in, but Sheena and Regal aren't present when it comes to Symphonia characters). Dunno if that'll make it out of Japan, but seeing as the first one did...
Like MarkShark said, Eternia on PSP didn't come out in North America.