In Sasuke's Story: Star Pupil, Sarada teased Sasuke for having lipstick on his face, which caused Sasuke to subconsciously attempt to wipe it away before he remembered that Sakura doesn't wear lipstick. Indirectly, this tells readers that Sasuke and Sakura kissed earlier that day, so it's a canonical SasuSaku kiss that's not shown.
Also in the novel, Sasuke tells Sarada that he and Sakura often talk in private when Sarada isn't aware, and he tells Sakura when his missions are beforehand, showing that the two regularly communicate with each other.
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Sasuke & Sakura: An Analysis
RandomMy thoughts and opinion on Sasuke and Sakura's relationship and analysis of their scenes together.