Was Sly Cooper: Thieves in Time Released on PlayStation 2? No

No. Sly Cooper: Thieves in Time (often called Sly 4) released in February 2013 exclusively for:

• PlayStation 3
• PlayStation Vita (Cross‑Buy / Cross‑Save support)

The PlayStation 2 had been discontinued globally by January 2013. The game was developed by Sanzaru Games for PS3/Vita architecture and was never ported to PS2.

If you want to play the Sly trilogy on PS2, the original trilogy (Sly 1, 2, 3) is available natively. The Sly Collection (HD Remaster) is on PS3/Vita/PS Now.