It's a short interview so there's no point in timestamps, but Omari says that he didn't make the decision to leave the show. That decision was above his pay grade. He was always open to giving the fans more Ghost, and he was expecting Power to at least go seven seasons like The Sopranos did (I guess some people see the second half of season six as its own season). Omari also said that he doesn't know who Ghost is as a person after playing him for so many years, and he doesn't feel like his death was earned because of all the things the fans never got to know about Ghost. He said he would want to be a part of the spinoffs as a way to help support them, like him appearing as a ghost to talk to Tariq or Tommy. He said it makes sense since Ghost moved a certain way, and becoming an actual ghost would be the next step.
Omari also mentioned that he hears the fans and their disappointment in how things ended and how much they won't let the character go, so he's never been opposed to coming back.