My personal favorite is 3, though some people are put off by the Trinity Sight system which makes you play the game from three different perspectives. I thought it was brilliant, personally.
As far as the battle system, it varies between all 4 PS2 offerings.
In 3, you have a party of six members set in pairs that must always act together. It works pretty well, but can be occasionally frustrating.
4's battle system features a four member party that's pretty stripped down and basic. No pairs, just individuals.
5 goes back to the six member system but does away with pairings so each individual character acts on their own behalf. Formations are introduced in this game which allow you to increase different statistics for party members based on their location within the formation and some also allow special "formation" attacks which involve all party members.
Tactics is pretty standard tactical fare with the addition of an element system that actually does something. It's fun, with plenty of different characters to use, but has a rather boring storyline I think.
All 4 are turn based.
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