Tales of Xillia General [In Stores Now]

Yes, any character is playable during battle. You can use L1 + D-pad to switch, in the direction of their HP bar at the bottom if I remember correctly. D-pad normally lets you choose who to link with. If you hit R3 (I think?), you can even have someone who isn't currently in battle tag in with someone who already is, switching on the fly (provided they aren't KOed).

That being said, the non-main characters are not as playable as Graces's non-mains if you know what I mean. Jude and Milla's ease of control is on a different level comparatively, particularly because they're just fast characters. Xillia 2 on the other hand fixes all of the problems so damn well, but at the same time, Ludger is the most overpowered main character in any Tales game by far.

Aw Boo i was hoping to do a Leia run or something without considerable difficulty.