Kids at the table and experiment
We are as a family. Even if my kids were eating at 5, we all tried to sit together at that time and then if my husband and I are later, they would sit with us and could try whatever we had.
Didn't always work out that way, but I tried.
I'd say kindergarten is when we all started to eat at the same time. Early enough for the kids but late enough for us that it didn't feel like a late lunch.