I think there are a couple, but the best one is Inuyasha: The Final Act episode 18
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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
Inuyasha and Kagome kiss in episode of Inuyasha Kanketsu hen (the final act) They also kiss in the second movie, Inuyasha the movie: Castle Beyond the Looking Glass. They almost kiss in episode 18 of Inuyasha Kanketsu hen and they almost kiss in ep 14 (not kanketsu hen)
Episode 18 of InuYasha the final Act
they kissed twice. One time in ' inuyasha the movie 2'. And in 1 of the last episodes of the final acts. they ALMOST kissed once in an episode of the final act, but they were interrupted by kagome's family.
Inuyasha and kagome first kiss is at the end of the second movie:(The Castle Beyond the Looking Glass)which aired between episode 95 and 96. Also indeed kagome and inuyasha do kiss in the second movie, they also kiss in InuYasha! Kanketsu-hen! episode 26-towards tomorrow ive only watched up to episode 73 and movie 1 and 3. but they never kiss in those ones. but kikyo kisses inuyasha in some of the episodes and in the first movie. and even if they did kiss in the 2nd movie, that doesnt count because the movies are just fillers. so technically they havent kissed.