Love in the Forgotten Realms Community Update, 7

Tl; dr yes you can have sex in Baldurs Gate 3. Who you journey with is as important as the journey itself. It shapes you, as you shape each other. Baldurs Gate 3 aims to take all that binds us together, and offer authentic, reactive relationships from the moment you meet, to whatever eventuality. The road least travelled is best travelled with friends. Each of your companions have their own personalities, goals, and motivations. Bound by the shared problem of an Illithid tadpole buried in their head, t