In the pages of Avengers: Endgame - The Art of the Movie, an alternate version of the final scene shows Steve Rogers preparing to travel back in time to return the Infinity Stones. Check out the concept art below.
There's no people around to see him off other than Robert Downey Jr.'s Tony Stark. Bruce Banner, Bucky Barnes and Sam Wilson are nowhere to be found in the concept art. Probably the concept art was created to conceal Tony Stark's fate, as it was revealed that the ending for Endgame was written before Captain America: Civil War was even released in big screen.
Avengers: Endgame - The Art of the Movie is already out and you can now stream Avengers: Endgame on Disney+.