D:happiness upon returning home.
The gates Odysseus reaches are the ones to his home. He hears the harp as he stops his friend to revel in the sight of home. He even tells his friend "here is the beautiful place". While Odysseus did need patience and endurance for his long journey back home, at this point Odysseus is enjoyed the moment he has returned and nothing more. Also, he is priority is not reuniting with old colleagues. It is seeing his wife and son.