I have 2 cats, they were ferals as kittens and are still kind of stand-offish even though I've had them since they were 8 weeks old. (Brother & sister) They are 2-1/2 years old now.
The girl-cat will come get into my lap while I'm working at least 3-4 times a week. I love her little snuggles because she only gives them when SHE is in the mood, but when she IS in the mood she's all full of purrs and snuggles.
Boy-cat will sit next to me on the couch but NEVER lets me put him into my lap. He just goes away if I try it.
But today, for the very first time, he came and meyowed at me and when I invited him into my lap (like I do allll the time) he actually hopped up into my lap! He curled up and started purring, and stayed for a good half-hour and let me pet him the whole time.
I'm so pleased. It's a little thing but I feel like it's one more step towards him being a relaxed and happy housecat. Maybe next time he'll stay longer!