I haven't played enough of the English version to remember, but frankly it wouldn't surprise me if they mispronounced it, after hearing all of the mispronounced nonsense Yukiko in Persona 4 is spouting.
But man, I seriously don't know which games you people are saying pronounce it that way. >:( And if you say Tales of Symphonia then I am going to kill your ears. They pronounce it wrong, but if you heard it as "yoo-drasil" then you're hearing it even more wrong than they're pronouncing it.
Anyway, "ig" would be the correct way to pronounce it. Not only has Atlus SAID so (we've been over this a million times), but Yggdra is based off of Yggdrasil, which, if correctly pronounced, starts with "ig." And this is why you can't cite the way her name is written/pronounced in Japanese. Because it's the same deal there, it's based off of Yggdrasil. Japan just doesn't understand Norse/doesn't care enough to write it as it's meant to sound.
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