Saying goodnight to my kids, having a last chat of the day, and giving them one more cuddle are among my most joyous memories.
At 7 and 10, it was a ritual that they would read a book to me since I used to always read to them before they went to sleep or tell them a story when they were little. Ever so often at that age they still wanted a story read/told.
When grandparents were visiting, they could stay up later to spend time with them.
My kids always had a hug and kiss at that age before going to sleep.