Only Phantasia was a prequel to Symphonia. Most of the time, none of the Tales games are really connected to one another aside from a cameo battle and lots of easter eggs. Phantasia and Symphonia were the only exception. :]
You had the Goddess Martel and Sheen's ancestor Suzu Fujibayashi.

Hahah, I got a vision of the Pilsbury Doughboy at that description. How sad! XD