Yes, Cloud kisses Tifa in an optional scene within the Final Fantasy VII series.
While their relationship is complex and open to interpretation, a kiss does occur in at least one specific instance. Here's a breakdown:
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Optional Scene: The kiss between Cloud and Tifa happens during a highly-regarded scene in Final Fantasy VII Remake, specifically during Chapter 12. However, whether this scene triggers depends on player choices and relationship scores throughout the game. It is not guaranteed.
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Context of the Scene: If the player triggers the optional scene, Cloud and Tifa share an intimate moment on the Sector 7 pillar before its destruction. They confess some of their feelings and share a kiss.
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Relationship Ambiguity: It's important to note that the romantic relationship between Cloud and Tifa is often a subject of debate among fans. While this scene exists, the overall canon interpretation of their connection and Cloud's feelings toward Aerith remains a point of discussion. The reference you provide highlights that some believe Aerith is Cloud's true romantic interest, referencing the original game's ending credits and plot points in Advent Children.
In conclusion, a kiss between Cloud and Tifa is present in an optional scene within the Final Fantasy VII narrative, specifically the Remake installment. This scene adds nuance to their relationship but doesn't definitively resolve the debate about the canonical romantic pairings.