You could try recording the audio with audacity. Then upload a good snippet of it to various song search sites, like shazam. I looked a bit, but couldn't find it exactly. Sounds like a remix of High Alert, with electric guitar overlay.
Also, try downloading the trailer with a good youtube downloader(the one for linux works pretty good), then opening that with audacity. Maybe you can find a version that uses multiple audio channels and strip the narration away with audacity.
Lastly, try looking through this
https://soundcloud.com/joshmancell soundcloud profile. He seems to be the composer of the Jak & Daxter music.
Good luck on your search.