Sonic Underground, I believe
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In Sonic SatAM they kiss at the end of the final episode, "The Doomsday Project"
Sometime before the games, SatAM, and the comics, I don't believe its ever been stated.
Adventures of Sonic the Hedgehog Sonic The Hedgehog(SatAM) Sonic Underground Sonic the Hedgehog The Movie Sonic X
Becuase she was only created for Sonic SatAM and later starred in the Archie Comics which fans of the TV show are reading.
there is no animated sonic tv series after sonic x. sonic x IS the last sonic TV series.