I haven't noticed the cost of spells increasing as you level. Wouldn't that make resource regen retain its value for sustaining no matter the level?
Regarding Bards: Their healing is off the charts. Their song, Dissention, heals you per enemy hit giving you an on-demand complete heal if you're fighting many opponents. It's a great class for swarming. With the charmed pet taking hits, I pull 4 additional mobs and let the AoE damage song whittle them down while I'm invincible through my healing. It's a fun high risk/high reward approach.
Regarding Rogues: I think it's a great design for rogues to give them no hp regen. They have a ton of control to stun-lock mobs and mirage strike to absorb the occasional hit that gets through. If I actually get hit as a rogue it's because I messed up. It would be counter to their design to let them go toe-to-toe with opponents through hp regen/leech.
Regarding Enchanters: They receive a Rune spell to absorb the occasional hit.
Regarding Paladins: I think their sustain is in a good place. They have a lot of stuns that let them prevent mobs from hitting them. Their Greater Heal is costly and cannot be used much. I think the high cost of it is good design as it lets the paladin keep trucking along if they miss the stun but doesn't let them rely on it as a sustainable strategy. Overall I feel the Paladin is an excellently designed class.