I believe in the cartoon series yes they did. Not sure about the comics

Meltdown Comics

Comics are generally categorized into genres such as superhero, manga, graphic novels, newspaper strips, webcomics, and alternative or indie comics. Each category has its own distinct style and audience.

Raven and beast boy are connected as friends. In the comics they are more then friends. But they're reactions to each other is complicated. But it may be a changes of romance 50%

Romantic relationships between Batman and Wonder Woman have been explored in some DC Comics storylines, but it is not a consistent or central aspect of their characters. Their dynamic is more often presented as a deep friendship and partnership within the Justice League. Can I help you with anything else?