It never stops surprising me how much of a "grasp" Bard has.
Sure 40 years of experience as an active knight gives someone the nerves, but it is more than that... Bard has "charisma" and control over it.
He isn't infallible, he loses control of situations, but never of himself and when things calm down he takes control of his surroundings with ease, Bard isn't just a knight... he is a leader, not a political one either but a practical one, someone that uplifts the spirit of others, even those who wanted to kill him just a moment before.
I can totally believe that after this travel, his legend will be one to live dozens of generations after.