Is there a symmetric-key cryptography based on key establishment techniques? Most of the current key exchange techniques are based on public-key cryptography. Are there any key exchange/establishment techniques based on symmetric-key cryptography too?

In my setup primary assumption is both communicating parties can have pre-shared key  and further they need to exchange messages to derive a longer key for secure communication. (Quantum key distribution is not option for me.) 

Are there any practical implementations for the above?
Yes, these are key derivation functions basically deriving a shared secret from information identifying the two parties (like their respective MAC addresses) and nonces and other session communication relevant information. See e.g. the PBKDF2 derivation function.