Yes, chapter 374 of the manga. Also in the anime. Inuyasha: the final act. episode 2. she died smiling, after she got her heart back Naraku cut her, and she died looking at Sesshomaru, and smiling. she became the wind.
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there's a scene where kagome is controlled and kills him but those r from inuyasha haters. it could also be in the movies as well
Byakuya of the Illusion/Mirage
Episode 2 of Inuyasha: Kanketsu-Hen
Episode 80: "Sesshomaru and the Abducted Rin"
Look for the Manga Volume where InuYasha, Kagome, Miroku, and Shippo are in Togenkyo. Which I'm guessing is either in season 2 of the series.
they never do have a baby in the manga. Although, Kagome does end up staying in the fudal era with Inuyasha, and they do get married... but as far as it tells you, they never have kids.