I think you're right that a bard (or skald) would work well with two front line types plus a bunch of summons. That could make it cramped trying to get into melee in some cases. Also, there's nothing wrong with having a charisma focused character in Kingmaker if you have ambitions of any kind.
There's a decent chance from that list that none of the other characters has the survival skill trained. I don't think it's a serious spoiler to suggest that with a lot of outdoors exploration you could end up needing someone who can make a shelter against bad weather or something. There are a few bard or skald archetypes which give bonuses to the skill, e.g. cultivator, luring piper or thundercaller bard or hunt caller skald.
... not having Survival as a class skill might not hurt so much.
In PF a class skill is +3 to the skill rather than a cost reduction as in D&D 3.x. Also there's 70+ bard archetypes and 26 skald archetypes - you have to cut down the number to something you can think about somehow!
Bards and skalds usually play very similarly unless they have an archetype which changes something drastic. Buffing's there easily, debuffing works with the right spells or feats building on intimidate, control isn't their best thing though.
Most bards and skalds don't get familiars or animal companions (unless they buy them with feats, but that costs 2-3 feats which can noticeably reduce the bard/skalds' effectiveness). A duettist bard gets a useful familiar though. It isn't compatible with the other archetypes I named, but it's useful enough on its own.
An inquisitor with an animal companion is a solid character, but I don't think two extra bodies in melee will be useful with this group.
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As others have said, for Kingdom Building a solid CHR character is pretty important. The good thing is with your stats, you could have a very solid CHR character that didn't even particularly need CHR, so that isn't really a limitation.
Looking at your party, it seems like you have 3 strikers and 1 character who would be excellent at control (summons are better used for control then damage in most cases) so a support build for you seems like a good choice.
As others have said, Bard is a very strong choice (I prefer them to Skalds personally.) I'd have a secondary focus on archery for times when either you really don't need any buffing for the party or when you have done enough (usually a round or two is plenty.)
With either a support character or an archer (and especially both) I like to have a mount. Full round attacks with archery while still being able to move is awesome (and can help avoid cover) and being able to pull out a scroll, move to an ally that needs help and cast in one round is pretty awesome as well.
A duettist archetype bard and a small character can have a mauler familiar mount at 3rd (I like the Rhamphorhynchus because who doesn't want to ride a flying dinosaur.) If fully exploiting your racial options you could have a small sized Tiefling Rakshasa-Spawn (for dex and chr +) with the over-sized limbs (I presume it would be medium weapons, not large for a small tiefling) and be shooting arrows just like a medium creature. If you didn't want to cheese that much, even just a vanilla halfling would be effective.
Another option would be the evangelist cleric. Yes, you already have a cleric but you would be taking very different roles in the combat. The other cleric would help cover for you not having spontaneous cures. I'd be looking at the Animal (feather) domain for a mount and either still go with archery or go for reach tactics. If the other cleric really preferred focusing on damage rather than control, you could by 8th level credibly manage both roles (although not as well as if you each focused) with an inspire courage (for support) and a control spell at the beginning of combat (especially if the arcane trickster was going to start things off with a haste.)
I (Relatively) recently got the opportunity to see a ... slightly odd archetype for Skald in play from the other side of the screen, and was frequently impressed.
Since the 'armies' thing was mentioned above... Bardic Inspire courage is amazing, but ... what if you could stack on a rage power (skald 101) AND, a +4 Str enhancement bonus on top of it, to an army of say 100 pikemen?
The archetype takes the philosophy of hybrid classes, and turns it up to 11. Wildshape (Limited to one animal type), Wild empathy (Same limits), a Hunter Animal Focus (sets the other limits), on top of the already solid class chasis. Yes, there's a cost, but the only major hit, is Spell Kenning.
IF you take it, ask your DM if you can take the 'Bull' Animal Focus, but use a more Kingmaker local creature for what you can Wild Shape / Empathy.
... I took a look at Rage powers ... and I think, that when I send my party through certain sections of KM, I may actually need to throw a Skald at them, with Linnorn Death Curse, Cairn and the above Archetype. .... On second thought, that might be considered Cruel and Unusual Punishment. (Note, if you take the above combinations, and do NOT warn/clear with your DM ahead of time your plans, I give them authorization to poke you repeatedly. It's cruel.)
The character channels the power of a cairn linnorm. The character’s melee attacks deal an additional 1 point of negative energy damage. If the character is knocked unconscious or killed by an attack or spell, the attacker suffers the curse of decay (Will negates). A character must be at least 8th level to select this rage power. Curse of Decay: save Will DC 10 + 1/2 character’s level + character’s Charisma bonus; effect target takes 1 point of Con damage per day and ages at a rate of 1 year per day (eventually incurring all of the penalties of old age but none of the bonuses).
at L8, +8 Str, +4 Con, and the above Rage power to all allies that can hear you, and using it on an Army. Oof. Just think of the Morale implications for the survivors, Even worse if you can make them take other ability damage each day. Poisoned weapons perhaps? <thinks evil thoughts, and uses a less common alias>
Personally I would go with a Gathlain Arrowsong Minstrel.
Lots of bardic goodness to help your party plus some serious ranged support so you can do something besides buff/debuff without putting yourself into melee.