I went through the same thing with my twins and we still go through it and they are 4. We have had the same routine since they were in their cribs and I just let them play. We do not have any toys in their room, however. All 3 of my boys share a room. I used to put a baby gate up across the door, but now that the twins are potty trained, I can't do that anymore.
I would just do your routine and leave. As long as they don't hurt themselves, it will be alright to let them play and wind down. If you ahve to place them in their beds after they are asleep, that's ok, too.