Growing up as a person, I've seen a lot of people from school, home, bar, and everywhere using just two phrases consistently to express themselves when ending their long conversations with their friends and families.

The phrases are, "let me see you off" or "let me escort you".

Well, it isn't bad grammar in any way. You've got yourself right but come to think of this, the world is revolving and I guess you would equally want to revolve yourself as well.

If so, why don't you consider other better option (s).

There are several ways to express yourself when wanting to see a friend or family member who visited off.

You don't necessarily have to use one word or sentence often.

Instead of the aforementioned phrases, consider this.
https://www.allgistroom.com/stop-saying-let-me-see-you-off-or-escort-you-say-this-instead/

Your stupidity is second to none