My dd is 9 and 3rd grade, and we have taught her cursive this year, using handwriting without tears. My son, who is in second grade and 8, wanted to learn as well, but was struggling with his printing as was, so we did not introduce it to him. Instead, I used HWOT first grade book the first 18 weeks, and we are now doing the HWOT second grade book and will do cursive with him next year.
I have a few relatives that are Occupational Therapists, so HWOT, for us just made since as it is all based on developmental levels.
I too agree that it would be helpful to teach it for the pure fact that they will need to be able to read it.