A method to recover the elastic properties, thickness, or orientation of the principal symmetry axes of anisotropic plates is presented. This method relies on the measurements of multimode guided waves, which are launched and detected in arbitrary directions along the plate using a multi-element linear transducer array driven by a programmable electronic device. A model-based inverse problem solution is proposed to optimally recover the properties of interest. The main contribution consists in defining an objective function built from the dispersion equation, which allows accounting for higher-order modes without the need to pair each experimental data point to a specific guided mode. This avoids the numerical calculation of the dispersion curves and errors in the mode identification. Compared to standard root-finding algorithms, the computational gain of the procedure is estimated to be on the order of 200. The objective function is optimized using genetic algorithms, which allow identifying from a single out-of-symmetry axis measurement the full set of anisotropic elastic coefficients and either the plate thickness or the propagation direction. The efficiency of the method is demonstrated using data measured on materials with different symmetry classes. Excellent agreement is found between the reported estimates and reference values from the literature.