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Any moment at all when Will stands up for Carlton is a stunningly heartwarming moment in itself!
One for a series as a whole, namely in the series finale that with all of the family moving to different parts of the country, Phil gets Carlton, Hilary and Ashley to agree to call himself and Vivian at least once a week on Sunday, and as Phil leaves the house for the last time, he looks fondly at Will and simply says "Sunday."
That entire episode was heartwarming, having seen it this morning. Every interaction Will had was closure and love. Especially when Phil tells Will that he is his son, because Will wanted a father throughout most of that series, and the one time that his father did appear led to one of the biggest Tear Jerker episodes of the series.
Uncle Phil calling out Will's father for abandoning him again was this as well as a Crowning Moment of Awesome. For all his annoyance, Phil really cares about Will.
The story of Ice Tray protecting Will when he was a kid, caring about him despite nobody else caring about Ice Tray himself.
During the 2020 reunion special, Will Smith talks about Janet Hubert and how he wanted to celebrate her, even showing clips of the two meeting up and talking for the first time in 27 years. They apologize for the falling out between them, and Will tells her right out that he didn't want to do a reunion special without celebrating her, and the two embrace. Finally, Janet arrives on-set with the other cast members and embraces Will, then her replacement Daphne Maxwell-Reid.