I own Venus and Braves for the PS2 (which would thus be my preferred version as my PSP is gathering dust somewhere...) and although I played a fair way into it it's not really worth it without really understanding much of the story, and it was too slow going with a dictionary in hand.
It's a fun strategy RPG but very much not in the traditional Tactics Ogre-esque mould - you plan your battle entirely beforehand and there's no real movement save rotating your squad in a turn; it's all about how you plan out your unit placement beforehand.
That coupled with the Gestalt system for relationship management and an interesting storyline makes it good fun to play. Alas, it was 2D and niche - and spiritually a sequel to the also untranslated Seven: Molmoth's Cavalry - so never made it here.
The team behind it went on to make Fragile, which I never really got on that well with and should revisit someday; I think they're disbanded now, or at least absorbed elsewhere into the Bamco monolith.