Grandia was rated E for Everyone unless you mean the Japanese version i guess then maybe. as for Kid friendly jrpgs i'd say definitely Dragon Warrior/Quest Monsters Tari & Tobi's Journey on Gameboy Color, Magi Nation, Quest Adventure also on Gameboy Color as well.
Mostly Kid friendly bit make sure you look up the end game plot twist in the Lost Age part of the game first. I could recommend Rhapsody, that is one of the more tame NIS games. The Lunar series is rather kid friendly aside from a few late game scenes in most versions mostly due to Working Designs, just pretend that Dragon Song got canceled though.
I would say a somewhat kid friendly game would be the Mana games. More specifically Seiken Densetsu II (Secret of Mana or Holy Sword Legend 2) and the DS spinoffs. I personally love them seeing as Square Enix pushes them out and it is one of their better RPGs in my opinion.
No RPG, but Kirby games seems to be always one of the best games for very young kids. My 4yo cleared it already on GBA and FC.
i would say rhampsody but the games one of the most expensive ps1 games and i dont even think the ds port i very easy to find either