Bandai Namco Games have set official names for the cast of characters in Tales of Zestiria. The protagonist of the PlayStation 3 game is Sorey. We checked with Bandai Namco Games America who confirmed these are the official names for the Tales of Zestiria main characters.
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Sorey
Alisha
Mikelo
Edna
Lailah
Dezel
Zaveid
Maltran
Bartlow