Long timers.
I'd love to have some sort of presence detection that will work with multiple people (including a child) without embedding a chip into our necks, but haven't found anything that seems reliable, yet. Room assistant sounds pretty cool, but I haven't had the time to play with it - and I'm not "installing" bluetooth on my toddler.
Early on I had 5-15 minute timers in most rooms, but my wife and I have ended up sitting in a dark bathroom, or worse cooking in a dark kitchen - flailing our arms to get the lights back on far too many times.
So, I made the timers in most rooms 30 minutes (20 in the bathroom, 5 in closets). That worked well everywhere but the kitchen; I added a second motion sensor there, and it pretty much always gets it right now.
Once in a while the light will shut off in the living room when we're still and zoned out on our phones or a movie, but that's rare enough that it's not a big deal. Also we get to laugh at ourselves for being perfectly still for an entire half hour.
--- Edit ---
I imagine presence detection is significantly easier with one occupant, and I've daydreamed about setting up a "one-person-home" mode that just turns on the light in whatever room last detected someone and off everywhere else. But honestly everything works so well as-is, that I don't think it's really worth the effort.