Then, Cassidy shockingly returns seasons later, at which point he and Benson enter a relationship.
It’s unclear exactly when their relationship resumes, only that they grow to care about each other deeply.
However, sparks aren’t flying between their offscreen counterparts (viaCheatSheet).

“It’s still awkward though,” Giddish said of kissing Scanavino.
“It’s almost like kissing your brother, it’s like, ‘Oh, jeez.'”
“But it’s so important for us to honor that relationship,” Giddish said.

“I think we’re willing to go past that and say, ‘Okay.