In good old Dempsey and Makepeace , there was excellent tension between them during the whole series. Dempsey wanted to win her over, but Makepeace was cooling him down all the time ;-). Did they finally managed to have some intimacy together? Or did they even sleep together?
As the Wikipedia article cited in the question says,
That sounds like the answer is no; but to make it explicit, we have the following from an IMDb user review:
However, there is a kicker to this story (described nicely on this fan page): As mentioned, there was "chemistry" between the lead actors, Michael Brandon (Dempsey) and Glynis Barber (Makepeace). A year after the show ended, having been separated by work at various locations, they decided to renew their partnership and make it permanent in real life. They married on 19 November 1989, and are still together after more than twenty-three years.