What aspects are you looking at for comparison? Combat is turn-based and menu-driven, but positioning matters for attack ranges. Attacks can automatically move you within range if you can move that far, and there is a separate movement option as well. I think the closest comparison I can think of is Growlanser except turn-based, but Grandia isn't too far off either if you consider a turn-based Grandia with a manual movement option. You have a turn bar on the left side of the screen, and individual turn "slots" can have bonuses associated with them, like HP healing or guaranteed critical, so manipulating who gets into which slot by delaying enemy turns or speeding up your party in various ways is part of the strategy.
Here's a battle video from the English PSP release that might help:
https://www.youtube.com/watch?v=576gpHmgMXE
As far as tone/story/characterization, I like to compare it to Grandia since IMO it's got a similar feel. It's a light-hearted globe-trotting RPG to start out with.