7-7:30 on weeknights. Sometimes a little later on weekends. Sometimes a little earlier if they have a 7:00 scouts meeting.
Kids are middle/high school. We ate earlier when they were younger, as early as 6pm in preschool or early elementary (which really sucked with getting off work at 5pm + commute & daycare pickup, there were a lot of really fast meals in those days). Gradually pushed dinnertime later as they got older. Kids aside, my ideal would be 7-8pm.