Peter Griffin is a heterosexual cartoon character, however for the sake of comedy, they have thrown in the occasional gay vibe.
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He was gay in the episode Family Gay, where he was injected with the "Gay Gene". It wore off and he returned to normal. but for a long term answer, no he is not gay.
Nothing is known of her sexual orientation.
The Joker's sexual orientation is not written into his character.
Soko's sexual orientation is heterosexual/straight.
The fictional character of Yoshi is not depicted with sexual orientation.
Frankie Muniz has not stated his sexual orientation.