According to Insert Credit, there is a Dreamcast version of Baldr Force EXE in the works...
http://www.watch.impress.co.jp/game/...23/baldr07.htm features a few screenshots.
Currently, the status of the ero cg is unknown... I really hope they can actually pull off a non-ero version of Baldr Force, because some of the ero in that game was totally redundant and/or unnecessary. One of the bonuses for the DC version apparently seems to be better battle graphics, as the weapon SFX seem to be souped up, along with better backgrounds.
PS: I might've asked this before, but DC no longer has a strict requirement on non-H due to the lack of sales right?