Course I do. I sit in the big girls room till they are drowsy then kiss them, tell them I love them and go and do chores. But if they specifically ask me to sit with them to sleep then I definitely would. My big kids are 4&6yo.
But they have also been times that I've walked in, kiss, hug and tuck in and have left. They know that I will come back after doing my jobs to kiss them again.