My 21 month old still does a closed fist with his thumb inside and can't do a thumbs up yet on both hands. When were your babies/toddlers able to do it? Should I be concerned?
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Do you frequently give a thumbs up sign to him? I don't think this is a natural thing toddlers just do. If you're not doing it for him to mimic, I wouldn't expect him to start doing it on his own. If he is meeting typical milestones, I wouldn't be concerned at all about this.
The BC gov put together a comprehensive document that is helpful for reviewing toddler milestones: https://www.healthlinkbc.ca/toddlers-first-steps-best-chance-guide-parenting-your-6-36-month-old-child

My advice is don't worry but don't wait.
Never prolong early intervention in the hopes that your child will "catch up on their own."
If nothing else, you get peace of mind from seeking out a professionals opinion.
I'm not a fan of the people who compare to their own situations or past ones saying "they will catch up, be fine, they will get it at their own pace, don't worry...".
It didn't help me and my child. It made me wait before getting the help we ended up needing in the end.

I've occasionally used thumbs up with my 19 month old and this weekend he tried to return the gesture - popping both his index fingers up (I was presenting a double thumbs up).
Kids go their own speed.
I wouldn't be too worried about thumbs up gesture quite yet.
Is Lo hitting other milestones and this one "gesture" not up to snuff yet?
Certain your LO has some strengths and just needs more exposure and encouragement for this particular item.
Clapping? 👏🏼
High five? ✋🏼
Fist bump? ✊🏼
Pointer finger? ☝🏼
Yes, he's reached all other milestones and can do all gestures. It's only this! However, his fists always have his thumbs inside.

Sounds like he's coming along nicely, at his pace.
I've tried "rearranging" fingers to show our LO it's the thumbs up, not index for particular gesture.
All in due time. 🤷🏼♀️👍🏼
Thanks mama! ❤️

You could try some interactive songs that use your fingers like “daddy finger, mommy finger…). If you do screen time, you can show a video like the wiggles. When my toddler was about 17/18 months, I started showing her each finger and try getting her to show me each one. It’s a good hand eye coordination exercise for them, good for future counting skills, hand strengthening for writing, etc. doing other gestures too like peace, rock on, etc.