That is something I hear people say quite often. They're worried about what might happen when it's 'too late'
I can't speak for everyone, or every situation, just my own experience and the view it gave me. It may be of no help to you at all.
My dad was devastated when his horrible, abusive father died. They'd been nc for about many many years but made contact a few years before his death, as the result of another family member passing away.
My dad wasn't devastated about the loss of this man, this particular human being, this individual who had treated him the way he had treated him. There was no oh my god, I've lost the man who punched me in the face, whatever will I do without him...
What he struggled with was the idea that he didn't have and never had had a father, a proper father, a good father who showed him love. He would never get to have the discussion with him that he wanted to have, there was no chance for him to tell his father how he felt. Not that he would have listened or even cared anyway, so it would have been a waste of time. My dad would have had all that whether he had been in touch with his father or not. But being in touch with him also gave him a few years of upset at the hands of his dad that he wouldn't have had if he had just binned him again.
So he suffered more for having him in his life and it didn't make things easier after he died. It didn't give him a father who loved him, it didn't give him answers, it simply gave him that individual who treated him the way he'd always treated him. On his death bed, his father turned his face away from my dad and was more concerned with the fact he wouldn't see his daughter's dog again.
Having witnessed all that, I would never get or stay in touch with someone because I feared I might feel bad when they died or something.
So I would say don't stay in contact out of fear you might regret it, because it won't help. If you want to stay in touch, you need to try to change the relationship. Just suffering him in your life is of no benefit to you. You'll be left with the same load of emotional stuff to wade through, regardless.