Sorry, they never do kiss. But, in a Samurai X movie, Kenshin is married to Kaoru.
ALSO,
you should check the manga out, i think they do kiss in the manga, i forgot, or Kaoru confesses to Kenshin. (:
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Kaoru and Kenshin do not share a kissing scene in the "Rurouni Kenshin" anime series. Their relationship is portrayed more subtly and romantically, focusing on their deep bond and mutual respect rather than physical displays of affection.
Does kenshin and kaoru have s** in manga