Are there any advantages of using wildcard-type generics in the Bar class over completely skipping them?
public class Foo {}
public in
There are multiple advantages.
They give more type safety. For example, consider if Foo was List instead. If you used List instead of List<?>, you could do this:
myBar.getFoo("numbers").add("some string");
even if the list was only supposed to contain Numbers. If you returned a List<?>, then you would not be able to add anything to it (except null) since the type of list is not known.
Foo is typed on some unknown but specific type.