Looking back, the most meaningful moments of my life have been those where I‘ve felt closest to those I love- typically as a result of a shared experience or a vulnerable/honest conversation. If my time was running short, I think I would just put any awkwardness aside and tell people what they mean to me and how much I love them. Such conversations may also reverberate and inspire others to be more intentional in their relationships with the time they have left.
And to echo another rec, I think it’s important to first identify what is most important to you personally and then invest in that. Brene Brown’s values exercise might be a good place to start!