A lot of kids' world these days is an artificial reality, made for them. School, soccer, art class, play dates. The reason the activity exists is to give kids an experience. We're not interested in it, because it's kid stuff.
When I was a kid, some of the most formative activities were fishing, sheep farming & vegetables gardening (grandparents on a farm), home repair jobs like painting or brickwork.
When I was very small (2-4), if my parents were painting a room, I was also in old clothes with a paintbrush "helping". Same with spring cleaning or whatnot. I had a little hammer I could bang, to help my dad assemble IKEA furniture.
You don't have to conciously "engage" in their stuff, just let them engage in your stuff.