Jaric Kaedan was awesome. Very militaristic, aggressive, but still completely light side. He somehow managed to capture the Dread Masters and he was known to be (become in battle) a living weapon of the Force.
But instead of using him more and characterizing him better, he is made mostly an obstacle for the Jedi characters and
Syo Bakarn also had potential, if they had showed him as more than a quest giver.
Yeah, I think thats the real problem: The Jedi lack agency. They need their own goals which they try to persue. (They don't need to leave Jedi ideals for that. Within the Jedi ideals they can have different priorites.)