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YUYA SAKAKI
For as long as Steven can remember being in the Hedge, Yuya has been there by his side. Both long term Spring servants, Steven and Yuya have developed an inadvertent codependance, relying on each other for comfort and feelings of safety. After Steven was punished for lashing out in response to Yuya's mistreatment at Helian's hands, Yuya was left alone to care for him while he spent several months trapped with the mind and body of an animal. They bear the trauma of that experience to this day, and it heavily informs their desperate attachment to each other. Romantic feelings have started to slip into the mix in recent times, but the exact form of their relationship doesn't seem to matter, as long as they can be together. They share almost everything with each other.
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PERIDOT
Peridot is Steven's only friend from back home, and after spending three years without any positive remnants of where he came from, her arrival sort of blew his mind a bit. While early on he was terrified of risking her punishment, his promise to work towards escape together with her is a large part of what has spurred him towards more proactive resistance. She is almost frustratingly confident about their prospects, which is a bit hard to swallow for him after years of having his optimism crushed, but he'll do everything he can to follow her lead. At least one of them needs to have hope.
RITA MORDIO
Rita is a long term servant of Autumn, and while Steven has spent quite a bit time balking at his circumstances, Rita has never seemed to quit. Ever. Punished over and over for her constant and irreverant attempts to escape, Steven deeply respects her courage as much as he's simultaneously terrified for her. Ashamed at his own cowardice, he made a promise to work together a solution with her, so that she'd no long have to do it alone, with the hopes that it would prevent her from having to risk herself needlessly. Deep down, he desperately craves her approval, feeling that it represents him not actually being as broken as he thinks he is.
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SHURA KIRIGAKURE
A relatively new arrival, and the first new Spring resident after years of nothing, Steven initially suspected Shura was going to be nothing but trouble. He turned out to be wrong. While she certainly has a lax and hedonistic approach to many things, she can also be incredibly, incongruously helpful and supportive. Maybe not with words, but definitely with actions. She's helped Steven out of a couple scrapes for nothing in return, and Steven feels increasingly driven to find out what makes her the way she is. Either way, he trusts her.
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RYNE
Another new arrival, Steven was immediately won over by Ryne's vulnerability and kindness. He was very relieved to find that she'd been selected to live in the gardens alongside him, and has been going out of his way to look out for her. This has only become more intense after the Whisper's memory visions forced Ryne to experience one of his worst memories first hand, and it turned out that they actually had a lot of similar experiences, stemming from living in another person's legacy and finding themselves among a mourning family. She is incredibly special to him and he wants to keep her close.
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JASPER (AKA "CHARGER")
A gem from Steven's homeworld, but not a friend. Jasper, now going by 'Charger' after her name was lost, first met Steven in the context of kidnapping his family and headbutting his face - and things have only marginally improved since then. She was turned into a horse as punishment for kicking the crap out of Steven (and other people) too much, and now that she's back, her relationship with Steven is as fraught as ever. She really, really wants him to fight her, to a sort of masochistic level, but Steven doesn't really get why. She's tied to so much personal baggage and trauma from his past, it's hard to make rational sense of anything she does.
SOLUS
Spooky but surprisingly civil, Steven has the strongest memories of accidentally annoying Solus in the library. In recent times, though, Steven has been trying to approach him as an ally, sharing information in the hope it will be shared with him in kind. Solus can be kind of condescending and Steven gets nervous talking to him, but not enough that it will prevent him from seeking him out where necessary.