I've always picked the boys up from playgroup/school/nursery, and we've had a long walk home so they've had time to fill me in on all their day's activities.
Since June my working hours don't allow it, and I never get to pick them up, and I feel I'm missing out so much. We are fortunate that dh works flexible hours, so he can nearly always pick them up, but in my heart of hearts I would still rather it were me. Also I usually get home shortly after they do, which is great, but they have already "talked off" their day and are ready to go and play/chill out/do homework; and rarely have any enthusiasm left to tell me about their day.
Today, for instance, ds1 (8) came out of school absolutely devastated and in floods of tears because he hadn't got a speaking part in the play that he'd auditioned for. I had a meeting after school, so by the time I was back the whole incident was completely dealt with, dh had comforted and placated him, and he didn't want to discuss it with me at all.
Maybe if I'd never had the opportunity to pick them up and talk to them at the end of the day, I wouldn't miss it so much!