Heard it was coming back

I don't know. They look like grandparents in the thumbnail pic for the show, so it looks like maybe it could still be in the works.

1. The Kid Leaves
When Paul and Jamie drop their daughter Mabel off for her first day of college, it quickly becomes clear that they have very different ideas of what their lives after children will look like.
FIRST AIRED: 11/20/19

2. Restraining Orders and Puppies
After too many surprise dorm visits, Mabel forces Jamie to sign a contract limiting contact for the next 48 hours, and suddenly Paul finds himself in the parenting hot seat.
FIRST AIRED: 11/20/19

3. Body Heat
Jamie makes the decision to get back into the work force, but time and menopause conspire against her. Meanwhile, Paul is invited to speak to Mabel’s class only after promising to Mabel that no one will know they’re related.
FIRST AIRED: 11/20/19

4. The Toothpick
Jamie spins out when one of her meticulously crafted scrapbooks documenting Mabel’s childhood disappears. Meanwhile, Ira shocks everyone (himself included) when he asks Lucia to marry him.
FIRST AIRED: 11/20/19

5. Boundaries and Nakedness
Tonya oversees Jamie’s sessions as she transitions back into the workplace as a therapist. At the gym, Paul is going through a battle of his own as Mark is upset that Paul refuses to be naked around him.
FIRST AIRED: 11/20/19

6. Monkeys, Lies and Withholding
Paul and Jamie pay a visit to the retirement home to visit Paul’s mother, Sylvia, and her new boyfriend, Ralph. Meanwhile, an unexpected visitor walks into Ira’s restaurant.
FIRST AIRED: 11/20/19

7. The Will to Live
A childhood friend of Paul and Ira’s has died, and his funeral triggers Paul and Jamie’s concerns about mortality and getting their affairs in order.
FIRST AIRED: 12/18/19

It happened. It's actually okay. Pretty much feels just like the old show.

The whole 12 episode revival kind of played out like a do-over of the finale. Same themes involved, just expanded with a deeper dive.