in episode 161 miroku's past mistake
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Miroku and Sango don't kiss in any episodes....SO far, maybe in InuYasha! Kanketsu-hen. But they do kiss in the manga. Miroku was in a matter of life and death, and Sango kissed him, whereas InuYasha and Kagome kissed in InuYasha movie 2: The castle beyond the looking glass
It was in episode 24 where Inuyasha, Kagome, and shippo met Sango..
There's no real indication if they get married or not (although it is possible). If you watch episode 132, you will see that Miroku asks Sango if she can "live with him" and "bear his children" after the battle with Naraku (and if he manages to survive). Also, if you watch the last episode of The Final Act (episode 26), Miroku and Sango have three children (two twin girls and a newborn son).
episode 100: THE TRUTH BEHIND THE NIGHTMARE:BATTLE IN THE FOREST OF SORROW
to me, i believe that inuyasha would be more mad because he killed her officiallyi believe that he is a bit of both mad and jelouse... but i think he loves kagome so much more than kikyo... INUYASHA RULES ^_^