>>281511031
I'm ready for 'walked them home gently' ridicule, but I think that damage to his character is part of the reason the only thing that happened here was the rubbing and kissing.
The WN doesn't really hint at anything past that (getting more "blessings", the same way he did with other characters earlier).
If something beyond that did happen, you'd have to believe that he got them back in their clothes after the fact and gave them the lecture shown in this chapter.
On balance, I think that color page last chapter was just thrown in to drum up sales.