It is officially strongly discouraged from the cookie crumbs I've been given -- I believe the only officially endorsed gate pass use in the 2020s is to escort a UMNR to the departure gate. I have gotten one GPAS to surprise my elderly-but-very-mobile father at the arrival gate about 2 years ago -- but that was issued by an agent I knew well and was also very near retirement so may not have been as worried about policy adherence as other agents (they offered when they saw me hanging out in the lobby and I mentioned I was waiting for my father; the previous time my dad had visited I had asked and was declined with the offer of a MAAS SSR if he needed help getting from the gate)

That said... an increasing number of airports offer their own gate pass-type thing on the airport level, e.g. my home airport just launched the "Hopkins Hangout Pass" a week or two ago -- it is free but requires registration in advance and has capacity limits. OP could see if something like that is available for their airport. (I haven't made use of CLE's version yet but the sign up looks easy enough)