For me it was less about what time I start the routine, and more about what's involved (although starting around the same time is very helpful).
I always do dinner, bath, books in the rocker, then bed. I try to keep things chill by playing some jazz during dinner and bath time (there's a great playlist on Spotify called Dark Academia Jazz). You don't have to do that, of course, but avoiding anything super exciting (like tickle fights or Megadeath) is key.
Five years later and it still works like a charm