Welcome to the Shard Ghost Dance!
This is just a matter of opinion, but for me, "End Game" pets are really not using pets at all. Don't get me wrong, I do, on occasion use pets for things like Treasure Maps while wearing a luck suit, or face planting one specific Champ to bide time and allow friends to do the lions share of damage, but these instances are pretty rare for me. Pets are great for starting out, and allow you to take on some otherwise impossible content at your current gear level (I'm not saying I geared to the teeth...I really am not).
But to try to give you some perspective, I'll do what I can to help you out.
Evo Dragons:
I'd say they ARE worth it, but some may disagree. Don't plan on them taking down the more dangerous dragons out there, or standing up to a pack of Minotaur, but they do have really nice utility. They will heal themselves (although not much) via the active skill Spirit Speak, are totally immune to poison, and have decent HP pools and damage. Additionally, they are easy to control and do not require additional skill beyond 120 Lore/Taming to use reliably. With proper skills in either magery or veterinary, they should make short work of the Deamons that drop the Astro Bones.
They are not without their problems though, Evo Dragons are HUGE...their size prevent you from seeing much of what is going on directly under them, cover up things you may be trying to use (Treasure Chests, Rune Books, bodies, etc.) They do not have pack instinct, and raising one from an egg can be time consuming, and they are not breedable. These are a 3 slot pet, so don't plan on having too many of them at one time.
Ancient Fire Steeds:
These tough steeds make up part of the pack I use (3 AFS and 2 Royal Steeds), in my opinion they are the best tameable creature on our Shard. They do considerable damage on their own, have a decent HP pool, and use a Fire Breath attack to take down monsters running away. Most importantly though, they have a pack instinct (Deamon), that when put together, can bring down some nasty guys pretty fast. Think of them as a Fire Steed on steroids. They can also be bred, high generation AFS are nothing to sneeze at when it comes to tank/damage potential.
These too are not without their faults, they take up quite a few control slots, they are a 3 slot pet, they are also difficult to control, and may require swapping out some jewelry or clothing to control them reliably (I have no problem with them if my Lore is around 135).
The role of a bard is a hard one, but for starting out, really well worth it. I can confirm that Peacemaking, Musicianship and Discordance jewelry exists...I find that crap all the time, but to make a viable "build" of it, you are going to need to stack it to at least 160 using jewelry and magical clothing. Disco is still pretty impressive, and certainly worth having a suit of it for using on tough game. For me, a Paragon Tyrant Magi Dragon can take several minutes, more time than I care to take exposed in a PvP hotspot, but after being Disco'd they go down in a flash.
A nice place for jewelry early on is the Mushroom Cave in Ilsh. Go through the cave, past the Ancient Dragon, and bear to the right, you will see a circle of mushrooms, stand in the center and you will be whisked away to the Twisted Weald. Leave the Saytr alone, and just head through the sandy maze, once there, take your time, and kill everything in the area. It may be tricky at first, but the loot tables on those spiders are some of the best for jewelry.
Hope this helps, and g'luck out there.