While I know DTK is mostly aimed at GameCube/Wii, I have found it incredibly useful for parsing out DWARF1 symbols into a human readable format on ELFs for other systems, as no other tool seems capable of this.
Pac-Man Rally (Europe) (En,Fr,De,Es,It) (Proto) (2007-05-01) contains an unstripped ELF with DWARF1 symbols with the name PMR_PSPwSYM.prx (despite the extension this is in fact an ELF and not a PRX), however when I try and parse the symbols with DTK I get the error Failed: Unhandled .debug relocation type Absolute. The game is compiled with ProDG which is where I assume the problem lies as it's not the usual compiler even for PSP, and has some quirks.