I understand your dilemma but allow me to play devil's advocate.....

I teach Yr 1 and more often than not the kids couldn't give a hoot about whether their parents are there to take them to the class, they just want to hot-foot it to the playground to have a run-around with their mates (many of whom they may not have seen for the past 6 or so weeks). Of course there are the exceptions to the rule - anxious kids, new kids etc. I am assuming this is not a new school for your kids?

I often chuckle at the disregard children show there parents at drop-off all through the year. I frequently call the child back out of the classroom to say goodbye to parents they have just brushed off!

As for your son in Yr 6, the above scenario applies ten-fold.

Have you asked them how they would like the morning to unfold (in an ideal world?) Maybe you'll find that just being there at the school drop-off is enough for them.

It's an emotional time for you, having spent so much time with them over the holidays. And then there's the reflection that goes on - "Oh, they're so grown up....where have the years gone...etc" that make parents even more gooey. I sometimes get teary watching parents tear-up on these days.

I don't mean to be dismissive of your feelings but just wanted to tell you what I see every year.

Hope it all works out for you.