I see my dad at least weekly when I drop his shopping off (I do click and collect for us both). I go into his house as I carry the shopping in. I also took my youngest dd in with me once as I didn't want to leave her in the car.
I've seen my PIL and SIL three times when they've done a doorstep drop off with Easter eggs and my dd's birthday presents.
My brother once for same reason as above.
An elderly aunt and uncle once, on the doorstep, when I dropped shopping off.
Other aunt and uncle a few times as they live near my dad. Been into their house once (with my children) on my aunts birthday.
My husband has been meeting a friend for daily walks and sees his parents regularly.
I've had to call in to work a couple of times and so have also seen a few work colleagues.
All of the above family live within a 5/10 minute drive away. I feel no guilt about it and I'm fairly certain none of us have or have had Corona. We've been doing this since the start of lockdown and will continue to do so.