Yes I've had dreams like that.

I dreamt that my Grandfather was working in his garden as I was sitting on the rock wall watching him. He quietly laid down his hoe, walked over to me and said "I'm done, I've worked hard enough." He smiled, gave me a hug and walked behind me. I turned around and he was gone. He passed away that night.

Had a similar dream when my other Grandpa died. He and I had been estranged for many years. I dreamt I was walking along a lake when I heard him call out my name. I turned and saw him walking toward me, dressed in a black suit. He said that he couldn't believe it was me and that he had missed me for all those years. He hugged me and said he had to get going. He walked into the lake until he was completely submerged.
He too died that day.