A few notes:
The Elminage Gothic bard doesn't really feel like a bard to me. It would feel more like a bard if, instead of getting Tarot, the bard got the four songs that are available as EX skills. (Fortunately, it looks like it is possible to mod this aspect of the game.)
Bards are quite poor in the original versions of Final Fantasy 3 and 4, but are improved in the DS versions. Final Fantasy 5's bard is actually quite good, especially since a certain song works on a certain superboss.
Etrian Odyssey (Nintendo DS) has a Troubadour class which is useful. Etrian Odyssey 2 also has Troubadour, but it isn't that good there. (One of the many things I dislike about EO2, actually.)
Of note, Wizardry 5 does not have playable bards, but there is an enemy called an "Enchanted Bard".
Arc the Lad 1 and 2 (PlayStation) have a character who gets musical themed attacks. He is more useful in 1 than 2.
In Romancing SaGa: Minstrel Song (PS2), one of the characters you can recruit is a bard, but he may not be usable endgame for spoiler reasons.