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The game did technically have six musicians working together with Takahashi supervising.  All six also had varying levels of involvement.

Yoko Shimomura - First made famous for her Street Fighter II soundtrack, she composed the following tracks for Xenoblade:

  • Main Theme
  • Unfinished Battle
  • Prologue A
  • Prologue B
  • Epilogue
  • Shulk and Fiorung
  • Hometown
  • Hometown / Night
  • Colony 9
  • Colony 9 / Night
  • Fight! 
Yasunori Mitsuda - Best known for composing the Chrono Trigger/Cross and Xenogears soundtracks composed the ending theme: 
  • Beyond the Sky
Manami Kiyota & ACE+ (3 people) - They are relative newcomers to video games but composed the bulk of Xenoblade's soundtrack,
Kiyota (47 tracks) and ACE+ (29 tracks). Full details of who composed and arranged what found here - http://vgmdb.net/album/18946

 

The Iwata Asks is also a very good read if anybody's interested. - http://iwataasks.nintendo.com/interviews/#/wii/xenoblade/0/0