Being physically close to loved ones, hugs (releases endorphins and oxytocin), having a meal together, jointly doing a task (even shopping or housework counts).
Playing games together (cards, board games, made-up-in-the-moment imaginary games)
Reading together, watching films or TV together - chatting about it during and afterwards
Going for a walk or doing any other kind of exercise together (this is also great sensory regulation so it's a win win!)
Making things together - models, cooking, gardening, doing housework…
Sending or receiving a letter or a greetings card - we all like the kind of “hello” that took someone a bit of time and effort to make.
Stroking your pet (releases endorphins and oxytocin and reduces heart rate and blood pressure as well). Plus they give you unconditional love in return.