The Complete Arthurian Tarot by Caitlin and John Matthews (the edition released in 2014) has a bit of this. The book has about 90 pages of card meanings and then about 150 pages of the Hallowquest course you can work through for the cards (a combined reprint of earlier books). In the course section of the book, as you work with each card, they "speak."
Example: Spear Nine (aka Nine of Wands) speaks, "I am the last defender of the shore. All that is strongest resides in me. I will never be overcome, save by death itself."
Minors tend to be brief, Major Arcanas say a little more.
Not sure if that's what you're looking for, but happy hunting, anyway.