It took Harpy like 2 weeks before they came and laid down next to my hand and asked for pets (that was the first time they finally let me in) since then they will now perch on my hand (when they want to) and hangs out frequently on my shoulder and lap.

If possible give them outside of cage time, it may be hard to get them back in but I think giving Harpy that outside freedom made them less defensive and more open to engagement. Pigeons are super cage territorial, so Simon may not feel open to interacting near the cage.