I just hugged my 17-yo son goodnight. It was a good hug. We always tell each other "I love you." I hugged him at drop-offs in elementary school and other parents lamented "I wish my kids hugged me." I know every kid is different, but our kids hug us because we always hugged them. That's the secret.
@danielpunkass our kids eat salad because that was on the table with nothing else before dinner (for a long time when they were younger anyway). They eat vegetables because that’s the majority of what we served (even before I joined my wife as a vegetarian). Nothing is foolproof and we’re not perfect- but like you say, what you do as a parent matters.