He ﷺ hasn't left us, rather he is in the heart of the lovers, and we know this from the 4 narrations of Imam al Bukhari, and also narrations in Sahih Al Muslim which state that the Prophet ﷺ said, "The one who has seen me in a dream has truly seen me, for shaytan cannot imitate me." And the other narration, "The one who has seen me in a dream, will see me in a wakeful state."
So he ﷺ hasn't gone from us in this world. Rather he ﷺ is in the hearts of the believers and lovers. Would you love to see him? I want you to ask yourself this question.
The way to achieving this is really easy and simple. Increase in your following of him ﷺ and in everything he's told you to do, and venerate him in your heart such that he ﷺ is more beloved to you than your parents, your family, and your children, than a cold glass of water on a hot summer day, that he ﷺ is more beloved to you than all these things. Because he ﷺ is closest to us is from everything else. As you heard the hadith mentioned earlier, that he is with us in everything - in our drinking, our sleeping, our walking, we're taking from him in everything ﷺ. So he is with us and we shouldn't be oblivious to him. And we hope that Allah allows us to see him ﷺ very soon.
أَلَا بِذِكْرِ ٱللَّهِ تَطْمَئِنُّ ٱلْقُلُوبُ
"Truly in the remembrance of God do hearts find rest."