Any stories about your late talkers?

My 23 month old doesn't say very much. I have been to the health visitor (UK) and since he is hitting the rest of his milestones she is not too concerned yet. If he hasn't caught up by his 27 month check they will act then.

He does animal noises, plenty of gestures, knows some baby signs which he uses often, has great understanding of what we say and is good at interacting with other people. He imitates sounds effects we make. His words are limited to 'mama' and 'beep beep' and he sings 'row row' and says 'bo' for boat. He can say 'daddy' and 'baby' but very rarely in context.

Does anyone have any similar stories of their late talkers and how they eventually caught up? Reading some stories would help me look forward to when he does eventually catch up.

Thanks!