My theory is to do things with them not covered by parents because they haven't the time
Eg Staying up late
Midnight feasts
Making a mess, paint, cutting stuff up, mucky crafts involving glue etc
Making a mess, cooking
Letting them share their interests with you eg taking you to football, to see a play they like, you read a book they really like or simultaneously read a book from their current favourite author. Also inc their favourite foods, fave fast foods, chain restaurants etc
Playing board games
Playing digital games together