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For the purpose of alleviating pain, I wouldn't hesitate to offer a foot massage to a female friend, regardless of whether or not she's single. However, I would never impulsively do so without a request on her part or complaints of soreness. If the reason behind the massage is to create a sense of intimacy and/or pleasure, it veers into romantic territory and could be considered a form of cheating, or at the very least, a potential stepping stone towards the act.
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