Xillia 1 and Graces F are both good games but not quite Vesperia level.
Zesteria is trash, and Berseria is good but below the above 2 IMO. Xillia 2 is in line with Berseria.
But yea, there will never be a Tales game as solid quality wise as Vesperia again. They got bank rolled by Microsoft and it showed in the final product, every other tales game has to be made on a much tighter budget and development schedule.