If you want to think about Lucavi as espers or eidolons, technically there's a Belias-Egi in the level 50 SMN quest. To be fair though, it's just a bigger renamed version of the Ifrit-Egi...

Oh, oh, but there's Cu Chulainn in Void Ark! But... he's a voidsent, not an esper, so...

Well, there's always Zodiark, I guess.