A functor $F : A \to B $ is final if for every $b \in B$ the under category $ b\downarrow F = \int B(b,F-)$ which is non empty and connected cf ncat
Jean Bénabou in Distributors at work claims that obviously a functor $F$ is final iff the left adjoint $F_! : \hat{A} \to \hat{B}$ (iso to the left extension along $y_A$ of $y_B \circ F$) to the functor $F^* : \hat{B} \to \hat{A}$ of precomposition by $F$ preserves terminal objects.
Is there a short abstract proof of this ?
I don't exactly know if this answers your question since it all depends on what you call "abstract", but here is how one can prove it.
First, show that a category $C$ is connected if and only if the colimit of the diagram $C → \mathrm{Set}$ constant to $1$ is $1$.
The second step is to use the concrete definition of left Kan extension mentioned by Zhen Lin to say that $F_!(1)$ sends $b$ to the colimit of the diagram $b↓F → \mathrm{Set}$ constant at $1$. Thus $F_!(1)(b) = 1$ if and only if $b↓F$ is connected.
We can then argue that $F$ is final if precomposing by $F$ preserves colimits. This is because the universal cocone over a diagram $B→C$ is built by extending the diagram by cocontinuity to the full subcategory of $\hat{B}$ generated by $B$ and the terminal object.