Geosynchronous orbit radius can be calculated imposing the orbital period to be equal to the Earth's rotational period, which results in:
$R_{GEO}=\sqrt[3]{\frac{GM_ET_{rot}^2}{4\pi^2}}$
where $G = 6.673 \cdot 10^{-11} \frac{Nm^2}{kg^2}$ is the universal gravitational constant, $M_E = 5.97\cdot 10^{24} kg$ is the Earth Mass and $T_{rot} = 86164 s$ is the Earth rotation period.
A circular orbit having the resulting radius ($46164 km$ for Earth) is called Geosynchronous; if it also have 0 inclination it is a Geostationary orbit, since a spacecraft put in such an orbit will always be over the same point on the Earth.
The orbital speed on any circular orbit can be calculated with the following formula:
$ V_c=\sqrt{\frac{GM}{R}}$
In the Geosynchronous case this results in about $3.07 km/s$
The same computations can be performed for any celestial body using the appropriate values:
$R_{synch}=\sqrt[3]{\frac{GM_{planet}T_{rot,planet}^2}{4\pi^2}}$
After the computation of the radius, you could compare it with the planet's radius and the radius of the Hill Sphere (Sphere of influence of the planet).
In the following, I report the results of an approximate computation for each Solar System planet (plus the Moon), considering the Hill sphere relative to the Sun (to the Earth for the Moon):
Mercury: $R_{synch}=242843 km$ , $R_H=220594 km$ , $R_{planet}=2440 km$ , $V_c=0.3 km/s$
Venus: $R_{synch}=1535681 km$ , $R_H=1010369 km$ , $R_{planet}=6052 km$ , $V_c=0.46 km/s$
Moon: $R_{synch}=88463 km$ , $R_H=129417 km$ , $R_{planet}=1737 km$ , $V_c=0.24 km/s$
Mars: $R_{synch}=20429 km$ , $R_H=1083941 km$ , $R_{planet}=3390 km$ , $V_c=1.45 km/s$
Jupiter: $R_{synch}=160052 km$ , $R_H=53155071 km$ , $R_{planet}=69911 km$ , $V_c=28.14 km/s$
Saturn: $R_{synch}=111606 km$ , $R_H=65439558 km$ , $R_{planet}=58232 km$ , $V_c=18.43 km/s$
Uranus: $R_{synch}=82674 km$ , $R_H=70064595 km$ , $R_{planet}=25362 km$ , $V_c=8.37 km/s$
Neptune: $R_{synch}=83395 km$ , $R_H=115863626 km$ , $R_{planet}=24622 km$ , $V_c=9.03 km/s$
Pluto: $R_{synch}=18892 km$ , $R_H=7633076 km$ , $R_{planet}=1184 km$ , $V_c=0.22 km/s$
As you can see from these numbers, the orbits relative to Mercury and Venus would be outside the Hill sphere. Every orbit, instead, is well above the relative planet surface.
These computations only determine the radius of the orbits, then, their stability has to be considered, which is a much more complicated matter. Even the Geostationary orbit is not stable and satellites spend fuel to maintain this orbit. In general each orbit will be influenced by the actual shape of the planet (flatness, asymmetries...), by the gravitational attraction exerted by other nearby bodies like moons (and even by more distant but bigger ones like the Sun or Jupiter) and many other factors. A precise computation of these effects requires an accurate knowledge of the Solar System dynamics.
Once one of these orbit has been proved to exist, nothing would prevent a natural body to follow it. Charon and Pluto are mutually tidally locked which means that Charon is essentially in one of these orbits.