You can emulate the older ones all the way up to Abyss. I played Innocence on an emulator.
The biggest problem is there a lot of games are left untranslated. Phantasia and Destiny had the skits cut out, and some games will never ever come over because Bamco sucks (Destiny 2, Destiny Director's Cut, Rebirth, Innocence, and all the R versions of Tales up to Vesperia).
Fan TLs have taken care of Phantasia and the original version of Innocence at least. Eternia, Hearts, and Legendia can also be emulated with their "incomplete" versions available in English.
If you're only comfortable with what's on Steam, then go for Vesperia. It's an all-around good game and it doesn't show it's age as much as Symphonia does. You'll need a PS3/4 to play Graces f, Xillia, and Xillia 2.