sounds like a very annoying child so keep the good byes short and sweet as that is the time that he has figured out you are not in charge and neither is Mom and Dad so he is acting on it - Maybe stand at the gate and you be in charge of it you open it and let Mom and Dad in and take his hand and lead him to them
same in the morning and just take him before he takes a toy and just sit him down to do his shoes as he will act up more if Mom is slow at doing them