A lot of times the most simplistic poem are the best ones and this one is really good in my opinion. I really love how you used couplets here because it makes the flow and rhyming work well.

The title Is brilliant because it tells me that you have reconnected with someone, whom you have missed dearly. whether it be a partner or someone in your family. But I am going to guess just from the title it will be a partner who you love or once had a relationship with.

First lines- This is such a sweet line, because it is filled with love. Even after years apart from someone, you knew you needed to hug them and it seems to me from your "tone" that it felt right to do so. The reader has to question what you have been through with this person, and can only imagine so.

second lines- I do like how you put forward the tone of loneliness here, because it feels like here that even though you have that love now, without that love you were feeling sad and loneliness and that makes this moment even more special. I do like the word familiar here. because that tells me that you have known this person for a long while and you are comfortable around them.

ending- This ending is nice. because it wraps up the poem well in my opinion, and it kind of speaks to my point about loneliness, because there was pain before you got this person back in your in life. Anyway. To play the other side a minute, Some people might consider this to be weak because it lacks a lot of details, Like who is this person and what pain did you have before you got them back. but I personally like poems that leave it up to the readers imagination. well done

This is so sweet and simple that it made me smile a lot

It's amazing how loves embrace can heal the deepest of wounds, well penned!