Originally Answered: Did Steve Rogers kiss his granddaughter? No. So here is how this plays out. In the core timeline Sharon Carter was Peggy's niece and because Steve was out of commission there is no familial relationship at all.
Avengers: Endgame's Steve and Peggy moment voted best movie kiss of all time. The kiss beat off classic smooches from films including Lady and the Tramp, Titanic, and Casablanca.
Both of these characters were constant in Steve Rogers' life, even when they weren't physically present. He most definitely loved both Peggy and Bucky, with the latter considered to be in a romantic sense as well for many fans.
The writers of "Avengers: Endgame" confirmed that Steve is the father of Peggy's children and that they likely have super soldier DNA. While Steve's children have not appeared in the MCU, in alternate universes he has a son named James Rogers and a daughter named Sarah, both of whom inherit his superhero abilities.
We know from Captain America: The Winter Soldier that Peggy got married and had two kids, and Endgame seems to confirm that her unseen husband was actually Steve Rogers post-time travel.
The pair were first introduced in Captain America: The First Avenger, where Peggy worked on the Project Rebirth program that saw Rogers injected with the Super Soldier Serum. From there, the pair worked together in the battle against HYDRA and soon developed strong romantic feelings toward each other.
From childhood best friends to spending decades apart, Steve and Bucky's relationship in the MCU was paved with love, struggle, and loyalty. While Steve Rogers and Bucky Barnes might not have a romantic bond in the MCU, they are still a fan-favorite duo that many people wish had been an LGBTQ+ canon relationship.
It had always been rather strange and awkward, with Captain America clearly transposing his feelings for Peggy onto Sharon; the kiss even happened shortly after Peggy's funeral. But Avengers: Endgame seems to make it even worse. Technically, Captain America was kissing his own great-niece.
He DIDN'T kiss his granddaughter. That would make Sharon Carter Peggy's granddaughter as well, which she is not. Sharon is Peggy's great-niece, meaning that, in the timeline where Cap marries Peggy, Sharon is his great-niece as well. However, when he kissed her, he did not know that yet.
Steve was keenly aware of Sharon's sexual attraction to him, and though he wasn't completely into her, he was open to the idea of being in a relationship with someone at some point in the future. The kiss he gives her is both a thank you, for helping the team, and a gift; knowing she desired him.
The idea of Captain America not being a virgin is not bad in and of itself. However, the how and when it happened ultimately hurts Steve and Peggy's MCU romance. Captain America losing his virginity to a USO girl in 1943 means that he did so while very clearly having strong feelings for Peggy.
Margaret Peggy Carter was born in 1921. That would've made her twenty three when she met Steve Rogers. She was three years younger than Steve Rogers when they met in 1943.
Bucky Barnes is one of the few figures who, while coming from the Red Room, Natasha trusts and cherishes. They first develop a romantic relationship when Barnes trains her as his Winter Soldier persona in the Red Room, though they are eventually split by their superiors.
Actor Chris Evans disclosed that he married Alba Baptista, a 26-year-old Portuguese actor. It is reported that the couple quietly tied the knot this month. Chris Evans and Alba Baptista reportedly exchanged vows during a private ceremony at a Cape Cod estate on September 9 and 10, 2023, as reported by People.
After returning the Infinity Stones to their original timelines, he remains in the 1940s with his lost love Peggy Carter; they marry and Rogers lives a full life.
Peggy and Steve's time together was cut short during World War II after Steve crashed Red Skull's ship, but that wasn't the end of their story. They were reunited after Steve was unfrozen, but only for a short while before Peggy passed of old age.
Peggy went on to live a long life filled with accomplishments, but Steve was always in her heart. Steve could see this and know that she was heartbroken about the time they missed. By going back to her, he was giving Peggy what she wanted, just as much as he was doing it for himself.
The moment where Peggy Carter touches Steve's chest was unscripted, and the result of actress Hayley Atwell being genuinely impressed by Chris Evans' physique.
I would say, yes. If you rewatch Peggy's funeral in Captain America: Civil War, you will see the shot below. Just before this we see Steve from this time period as the front carrier of the coffin, on the right side (from the angle of the pic below.
