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oh yes!yes they did!Steve urkel's lats lines of the series was:don't i get a welcome home kiss?

Laura:on one condition.

Steve urkel:what's that

Laura:that you'll never go into outer space again

Steve urkel:only when we kiss,Laura lee,only when we kiss

[they passionately kiss]

so yeah they love each other at the end...they love each other gooood!;)

they later got married

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