Quincy, I agree with you but just thought I’d give you a tip as to how I handle this (and I let the escort know ahead of time):
When the escort arrives I come off the elevator with a hearty “Billy! So good to see you. How’s your mom? I can’t wait to see her again.” To me this implies he’s either an old friend or family such as your nephew. Remember, in theory anyway, if you’re in a hotel you’re more than likely a visitor to that city. Meeting up with friends and family is why you’re there.
Further, I really don’t think the desk cares who you’re meeting. I’ve stayed with friends in many, many hotels over the years and have never side-eyed or seen anyone side-eyed when they meet a guest at the elevator.