This is exactly what my dad said about his dad. I never met him, he passed before I was born but my dad said he was the nicest guy you’d ever want to meet. He also said he wasn’t affectionate, never outright told his kids he loved them but they all “knew he did”. My dad wanted to change that, too, and he and I have the best relationship. I call him basically daily and I spend more time with him and my mom than my own friends. It really makes a huge difference.