When my kids were very young, it was by 7:00 pm. Now, my son was up very early (about 6 am or so) at age 2, but he has ADHD, and doesn't need as much sleep. DD could sleep 12 to 14 hours (yes, with a diaper change and quick feed) but she requires more sleep.
When we moved to our new house, and DD was in second grade, she still was going to bed at 7:00. She just got tired, and really wanted her sleep. DS was a bit later, but definitely before 9:00pm. He would stay up till midnight if you let him, but then it would be a disaster to get up and ready for school.
My husband is rarely home before 8:00pm, so yes, when they were babies (or DD was, DS was 2) he sometimes came home after they were bathed and in bed. I had to nurse my DD while bathing my DS! It all worked out.
Many nights he would bring home dinner for the two of us. Of course, I was usually tired from nursing and caring for the kids, so I don't stay up late anyway.
I have a DBIL whose kids had no official "bed time". It was chaos in their house. When our eldest kids (their daughter and my son) were about 18 months, they insisted we go out to eat at 7:30pm. Okay, so we went (grr... it was almost time for my son to sleep). Their daughter was asleep in her stroller, and I commented she was already asleep for the night. They said no, she was just taking her nap. Um. It's 7:30pm? Aren't most one year olds asleep at that time? Nope, she stayed up till at least midnight. Yikes!
Even though my DH was home sometimes after they were asleep, we all needed consistency. I needed a short time of quiet and time to clean up from dinner.
I wouldn't keep my kids up late to see my husband.