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They're both great but for different reasons. I'm only 60 on WAR so I can't comment too much about it but I like it for the sheer power it has. WAR can jump right in and power through fights with brute force and impressive hp.
My main was PLD all the way through Stormblood and is still my favorite for all the party utility it has. Clemency can be used on a party member unlike Equilibrium. Clemency has saved my party countless times when the healer dies to a mechanic during the final boss, rather than possibly wiping and starting the fight over. Then you have Cover, Devine Veil, Passage of Arms, and Intervention. Mitigation is superb with Hallowed Ground, Bulwark, Sheltron, and of course the cross class ones. HG is amazing when used properly and at the right time.
I just like all the utility I get with PLD, but they're both great tanks depending on what you're looking for.
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My main is PLD and I really enjoy him. WAR and DRK I've not played as much but WAR feels fun in terms of offensive power. I feel strong as a WAR in a way PLD never does. In terms of mitigation and party support I wouldn't give up PLD for anything but for solo content and OT I think WAR might be better.
As for DRK...I'm just not feeling it yet. Several people in my FC swear by them but I just don't see what they are supposed to be good at yet.