In Japanese there is neither L nor R, so the translator has to interpret what could be meant. Mostly it's obvious, because most names are popular. Anyway, some names make me wonder...
Tir: It's not in the game, where does it come from? Anyway, his father has a little outdated but German name (Teo). Why shouldn't his son have a little outdated but German name as well? He just missed one, because "Till" fits perfectly to these critera. So either the translator didn't know the name "Till", or it is supposed to be "Tir" for some reason, although it's not even a name afaik.
Raura: The 4 possibilities are "Raura", "Raula", "Laula", and "Laura". Since most characters with western names have actually very common western names, "Laura" would make more sense.
Milich: Actually that makes sense, because it exists as family name (somehow some characters have family names as first names). What is confusing me is that the Katakana for "Milich" would be Mi-Ri-Hi, but it is "Mi-Ru-I-Hi". Is he supposed to have a french sounding name as "Milluige" or so?
On a side note, the Katakana tells you how a name is supposed to be pronounced. Georg is not supposed to be pronounced english (George), but german instead. And yet, in S5 cutscenes they pronounce it english. The reason is simple: if english speakers try to pronounce "Georg" in a german way, they'll usually end up like "Gay Org".