Hero Kids is a huge hit in our house and has been for years now. Easy to get kids on board, easy on the adult running it, and simple enough for kids to run themselves. Got my brother-in-law a copy and hooked the nephews too.
Rules work well for a surprising range of ages since they give just enough structure without trying to constrain everything. I've run for 8 year olds and 3 year olds (sometimes together) and everyone has had a great time.
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