I guess it depends what situation you are in & what works for you. I don't see the point in cooking extra early so I can sit at 5.30 to eat when I don't feel like it....because my 2.5yr old does. Whom will usually not eat what it is I've cooked anyway. There are plenty of years to do so. He will eventually get to a stage where he will eat with us. So I'm not making to much fuss on it now.
Also when you don't see your DH for lets say 6months of the yr it's nice to enjoy a nice meal together & to be very frank often it's not "enjoyable" when a 2.5yr old is thrown into the mix.

I also think it's important for DH to do other things with DS, therefore he eats earlier (not always) but when he does, DH can come home & hang outside with him having a swing etc & then shower with him & read stories. He wouldn't do this if we made him hold off eating til we were ready as I would prob rush it soon as DH got in the door so DS isn't too ratty & still gets to bed a decent time. I guess his bedtimes etc are important to us also at this age. But again, it all changes with age etc....that's just us for now.