Honestly, Vader’s probably the best one up there, even before his face turn at the end of Jedi. When he finds out his son is alive, the first thing he does is seek him out and try to get him to join the family business. Sure, they have a tense conversation which doesn’t end…great, but at least he’s trying to reach out. Compare that to Worf, who seems to genuinely hate his kid and spends the better part of two shows pawning him off on other people, and it’s not even close.