Beasts has at least two. By the end of "Next of Kin" when the australopithecines team up to drive off the big cat Dinofelis from a threatened youngster, and when the matriarch of the mammoth herd welcomes the delayed female and her calf in "Mammoth Journey".
Making the ending of "Next of Kin" was that Blue was the Butt Monkey (Incredibly Lame Pun recognized) of the Australopithecus tribe, an orphan who was basically a hanger-on to the tribe after his mother died. The fact the tribe considered him worth saving make it extra heartwarming.
The ending to Walking With Dinosaurs would be a Tear Jerker, except for the very end, which shows (just like ending to Jurassic Park), that even though the dinosaurs are gone their descendants — birds — are still with us.
The book version of Giant Of The Skies makes the ending a tad more uplifting (no pun intended) when we learn that the old Ornithocheirus did not die in vain.
Despite this ignominious end, the old male was a success. In his 40 years of life he probably sired several thousand offspring and it is likely that some of them were on this beach, competing and succeeding where he finally failed.