While having offensive utility for content where your mitigation isn't needed is important, keep in mind late-game doesn't only encompass that.
Late-game can be hami raids and some incarnate trials, where heals+regen buffs are useful. Late-game can be doing the weekly task forces for double merits, where you'll often play together with very weak characters and those heals+buffs will come in very handy. Late-game can be keeping your team's lore pets alive longer.
Regeneration Aura makes you quite tanky with high uptime, and my Empathy build has hardcapped resists as well as softcapped defenses. Then there's the subject of blasts, which a good defender can definitely get some damage out of if built correctly. Whether it be by choosing sonic or by proccing out your blasts.