Welcome to the Phansite!
I played Persona 5 with English audio. Normally, I would watch subs of anime, and was considering playing P5 with the sub. However, I feel like the English voices do fit a bit more. Because it's in my first language, I feel like I can understand the characters more rather than with just hearing Japanese and seeing text dialogue? Idk, hard to explain. I have watched Persona 5 the Animation all the way through, though. I'll give my piece for each of the Phantom Thieves:
Ren - I think both VAs are pretty solid, though I sense the nasty crimeboi-ness in the dub more.
Morgana - Again, both are pretty solid. I'm not sure which one is better.
Ryuji - I think VAs do an effin incredible job. Though, I'll have to go with Max Middleton's voice a bit more, even though both are very similar, the dub captures Ryuji's more laid-back, teenager vibe?
Ann - I think JP's Ann's voice is a bit too high. It really emphasizes the cuteness and sexiness, while Erika Harlacher highlights her tom-boy and laid-back nature. Both VAs did shine during the nude incident, though.
Yusuke - Again, have to go with the English VA. While both are amazing and very sexy, I feel like JP's Yusuke was slightly.... horny, and less dramatic? That's how I feel anyways. English Yusuke is just outstanding some times, but then sometimes, his voice is kinda awkward. Matt Mercer shined during his character's arc, animated cutscenes, but was awkward during the other cutscenes and Shido's Arc in my opinion. But still, bless Matt Mercer, succeeding to voice an incredible character,
Makoto - I don't have much to say for Makoto. I might like the Japanese VA a bit more, I just feel like it's more fitting.
Futaba - Both VAs are very different. In JP, Futaba gets the loli/moe-voice treatment. In English, her voice is a bit more realistic for someone of her personality. I don't know which is better, honestly.
Haru - Same for Futaba, but the other way around. Though.... I feel like with Haru being more innocent excluding her sadistic side and sweet than Futaba, the loli/moe-voice is more believable, so I will say that I like the English voice more.
Goro - Both of these voices are very good. When I first heard Akechi, I just found his voice soooooooooo satisfying, and I wanted to hear more. But... I think Robbie Daymond does a bit better, because of... spoiler scenes.