Do not, though, for that reason feel any less warmth for them as you depart this life, but keep true to your own character friendly, kind, generous. Again, your leaving of them should not be any wrench from life, but rather that easy slipping of the soul from the body's carapace experienced by those dying at peace. Nature bound you to them and made them your colleagues, but is now releasing you. My release is like parting from kinsmen, but I do not resist or need to be forced. This too is one of the ways to follow nature.
Chapter 36 of Book 10 is a deep dive into Marcus' thoughts specific to his death. There seems to be a lot of loaded ideas in this meditation of his. He seems to want to be called a sage, but yet, if people are grateful that he is now dead, perhaps he did not quite pull off the feat of becoming a sage since he was not able to successfully persuade people to be better. In which case, he is simply grateful he is leaving this sort of life, despite giving it his best effort to help those around him.
In the second part, he still reminds himself to continue to help and "feel warmth" for them even as he is preparing to die. He wants to life life fully to the end - being friendly, kind and generous all the way to the end. He does not want to die bitterly.
Pierre Hadot takes 3 to 4 pages to decompose this passage and it is well worth the read.
(see also Citadel p. 30, 228, 293-295)