Double - Casually Dressed Friends (Patreon)
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Later on, they got ice cream (as friends do), and Sarah got some of her delicious mint chocolate ice cream on her cheek. Tedd, being a stalwart companion, chose to thoroughly lick the ice cream off of Sarah's face.
This was something they might not normally do, but again with the anonymity and such.
Granted, it's true this anonymity might have gotten out of hand, considering the various and numerous... Things they did after this exact moment, but it was nonetheless just friendly fun among friends having fun with their anonymity. As friends do.
It's possibly worth noting that they were actually seen by several people who knew exactly who they were regardless, but given that they were oblivious to this, that's hardly relevant.